ArduPlane Parameters

Content

Reference Manual Table of Contents

Complete Parameter List


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


Contents

ArduPlane Parameters

Eeprom format version number (ArduPlane:FORMAT_VERSION)

Note: This parameter is for advanced users

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

Software Type (ArduPlane:SYSID_SW_TYPE)

Note: This parameter is for advanced users

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

MAVLink system ID (ArduPlane:SYSID_THISMAV)

Note: This parameter is for advanced users

The identifier of this device in the MAVLink protocol

  • Range: 1 255

Ground station MAVLink system ID (ArduPlane:SYSID_MYGCS)

Note: This parameter is for advanced users

The identifier of the ground station in the MAVLink protocol. Don’t change this unless you also modify the ground station to match.

  • Range: 1 255

USB Console Baud Rate (ArduPlane:SERIAL0_BAUD)

The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

    Value Meaning
    1 1200
    2 2400
    4 4800
    9 9600
    19 19200
    38 38400
    57 57600
    111 111100
    115 115200
    500 500000
    921 921600
    1500 1500000

Telemetry Baud Rate (ArduPlane:SERIAL1_BAUD)

The baud rate used on the first telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

    Value Meaning
    1 1200
    2 2400
    4 4800
    9 9600
    19 19200
    38 38400
    57 57600
    111 111100
    115 115200
    500 500000
    921 921600
    1500 1500000

Telemetry Baud Rate (ArduPlane:SERIAL2_BAUD)

The baud rate used on the second telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

    Value Meaning
    1 1200
    2 2400
    4 4800
    9 9600
    19 19200
    38 38400
    57 57600
    111 111100
    115 115200
    500 500000
    921 921600
    1500 1500000

SERIAL2 protocol selection (ArduPlane:SERIAL2_PROTOCOL)

Control what protocol telemetry 2 port should be used for

    Value Meaning
    1 GCS Mavlink
    2 Frsky D-PORT

Autotune level (ArduPlane:AUTOTUNE_LEVEL)

Level of agressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a ‘softer’ tune, with less agressive gains. For most users a level of 5 is recommended.

  • Range: 1 10
  • Increment: 1

Telemetry startup delay (ArduPlane:TELEM_DELAY)

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

  • Range: 0 10
  • Increment: 1
  • Units: seconds

Rudder Mix (ArduPlane:KFF_RDDRMIX)

The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%

  • Range: 0 1
  • Increment: 0.01

Throttle to Pitch Mix (ArduPlane:KFF_THR2PTCH)

Note: This parameter is for advanced users

Throttle to pitch feed-forward gain.

  • Range: 0 5
  • Increment: 0.01

Low throttle pitch down trim (ArduPlane:STAB_PITCH_DOWN)

Note: This parameter is for advanced users

This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft.

  • Range: 0 15
  • Increment: 0.1
  • Units: Degrees

Glide slope threshold (ArduPlane:GLIDE_SLOPE_MIN)

Note: This parameter is for advanced users

This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don’t want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude.

  • Range: 0 1000
  • Increment: 1
  • Units: meters

Stick Mixing (ArduPlane:STICK_MIXING)

Note: This parameter is for advanced users

When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use “fly by wire” mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.

    Value Meaning
    0 Disabled
    1 FBWMixing
    2 DirectMixing

Skip gyro calibration (ArduPlane:SKIP_GYRO_CAL)

Note: This parameter is for advanced users

When enabled this tells the APM to skip the normal gyroscope calibration at startup, and instead use the saved gyro calibration from the last flight. You should only enable this if you are careful to check that your aircraft has good attitude control before flying, as some boards may have significantly different gyro calibration between boots, especially if the temperature changes a lot. If gyro calibration is skipped then APM relies on using the gyro drift detection code to get the right gyro calibration in the few minutes after it boots. This option is mostly useful where the requirement to hold the plane still while it is booting is a significant problem.

    Value Meaning
    0 Disabled
    1 Enabled

Use FBWA steering in AUTO (ArduPlane:AUTO_FBW_STEER)

Note: This parameter is for advanced users

When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. This option is not recommended for normal use.

    Value Meaning
    0 Disabled
    1 Enabled

Takeoff throttle min speed (ArduPlane:TKOFF_THR_MINSPD)

Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for cvatapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.

  • Range: 0 30
  • Increment: 0.1
  • Units: m/s

Takeoff throttle min acceleration (ArduPlane:TKOFF_THR_MINACC)

Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches this should be set to 15.

  • Range: 0 30
  • Increment: 0.1
  • Units: m/s/s

Takeoff throttle delay (ArduPlane:TKOFF_THR_DELAY)

This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start.

  • Range: 0 15
  • Increment: 1
  • Units: 0.1 seconds

Takeoff tail dragger elevator (ArduPlane:TKOFF_TDRAG_ELEV)

This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be conbined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial “tail hold” stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn’t grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.

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

Takeoff tail dragger speed1 (ArduPlane:TKOFF_TDRAG_SPD1)

This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to “rotate” the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages. For tail dragger aircraft it should be set just below the stall speed.

  • Range: 0 30
  • Increment: 0.1
  • Units: m/s

Takeoff rotate speed (ArduPlane:TKOFF_ROTATE_SPD)

This parameter sets the airspeed at which the aircraft will “rotate”, setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent

  • Range: 0 30
  • Increment: 0.1
  • Units: m/s

Takeoff throttle slew rate (ArduPlane:TKOFF_THR_SLEW)

This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle.

  • Range: 0 100
  • Increment: 1
  • Units: percent

Level flight roll limit (ArduPlane:LEVEL_ROLL_LIMIT)

This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach.

  • Range: 0 45
  • Increment: 1
  • Units: degrees

Landing Pitch (ArduPlane:LAND_PITCH_CD)

Note: This parameter is for advanced users

Used in autoland for planes without airspeed sensors in hundredths of a degree

  • Units: centi-Degrees

Landing flare altitude (ArduPlane:LAND_FLARE_ALT)

Note: This parameter is for advanced users

Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch

  • Increment: 0.1
  • Units: meters

Landing flare time (ArduPlane:LAND_FLARE_SEC)

Note: This parameter is for advanced users

Time before landing point at which to lock heading and flare to the LAND_PITCH_CD pitch

  • Increment: 0.1
  • Units: seconds

Navigation controller selection (ArduPlane:NAV_CONTROLLER)

Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental conrtrollers will be added which are selected using this parameter.

    Value Meaning
    0 Default
    1 L1Controller

GPS to Baro Mix (ArduPlane:ALT_MIX)

Note: This parameter is for advanced users

The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude baloon many kilometers off the ground.

  • Range: 0 1
  • Increment: 0.1
  • Units: Percent

Altitude control algorithm (ArduPlane:ALT_CTRL_ALG)

Note: This parameter is for advanced users

This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be seleted using this parameter.

    Value Meaning
    0 Automatic

Altitude offset (ArduPlane:ALT_OFFSET)

Note: This parameter is for advanced users

This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission

  • Range: -32767 32767
  • Increment: 1
  • Units: Meters

Waypoint Radius (ArduPlane:WP_RADIUS)

Defines the distance from a waypoint that when crossed indicates the waypoint has been completed. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a “finish line” passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete.

  • Range: 1 32767
  • Increment: 1
  • Units: Meters

Waypoint Maximum Radius (ArduPlane:WP_MAX_RADIUS)

Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the “cross the finish line” logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.

  • Range: 0 32767
  • Increment: 1
  • Units: Meters

Waypoint Loiter Radius (ArduPlane:WP_LOITER_RAD)

Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.

  • Range: -32767 32767
  • Increment: 1
  • Units: Meters

Action on geofence breach (ArduPlane:FENCE_ACTION)

What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control.

    Value Meaning
    0 None
    1 GuidedMode
    2 ReportOnly
    3 GuidedModeThrPass

Fence Total (ArduPlane:FENCE_TOTAL)

Note: This parameter is for advanced users

Number of geofence points currently loaded

Fence Channel (ArduPlane:FENCE_CHANNEL)

RC Channel to use to enable geofence. PWM input above 1750 enables the geofence

Fence Minimum Altitude (ArduPlane:FENCE_MINALT)

Minimum altitude allowed before geofence triggers

  • Range: 0 32767
  • Increment: 1
  • Units: meters

Fence Maximum Altitude (ArduPlane:FENCE_MAXALT)

Maximum altitude allowed before geofence triggers

  • Range: 0 32767
  • Increment: 1
  • Units: meters

Fence Return Altitude (ArduPlane:FENCE_RETALT)

Altitude the aircraft will transit to when a fence breach occurs. If FENCE_RETALT is <= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT < FENCE_MINALT. If FENCE_MAXALT < FENCE_MINALT AND FENCE_RETALT is <= 0 then ALT_HOLD_RTL is the altitude used on a fence breach.

  • Range: 0 32767
  • Increment: 1
  • Units: meters

Fence automatic enable (ArduPlane:FENCE_AUTOENABLE)

When set to 1, gefence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing. When on the ground before takeoff the fence is disabled.

    Value Meaning
    0 NoAutoEnable
    1 AutoEnable

Fence Return to Rally (ArduPlane:FENCE_RET_RALLY)

When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point. If no rally points have been defined the plane will return to the home point.

    Value Meaning
    0 FenceReturnPoint
    1 NearestRallyPoint

Fly By Wire Minimum Airspeed (ArduPlane:ARSPD_FBW_MIN)

Airspeed corresponding to minimum throttle in auto throttle modes (FBWB, CRUISE, AUTO, GUIDED, LOITER, CIRCLE and RTL). This is a calibrated (apparent) airspeed.

  • Range: 5 50
  • Increment: 1
  • Units: m/s

Fly By Wire Maximum Airspeed (ArduPlane:ARSPD_FBW_MAX)

Airspeed corresponding to maximum throttle in auto throttle modes (FBWB, CRUISE, AUTO, GUIDED, LOITER, CIRCLE and RTL). This is a calibrated (apparent) airspeed.

  • Range: 5 50
  • Increment: 1
  • Units: m/s

Fly By Wire elevator reverse (ArduPlane:FBWB_ELEV_REV)

Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.

    Value Meaning
    0 Disabled
    1 Enabled

Use terrain following (ArduPlane:TERRAIN_FOLLOW)

This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.

    Value Meaning
    0 Disabled
    1 Enabled

Terrain lookahead (ArduPlane:TERRAIN_LOOKAHD)

This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.

  • Range: 0 10000
  • Units: meters

Fly By Wire B altitude change rate (ArduPlane:FBWB_CLIMB_RATE)

This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.

  • Range: 1-10
  • Increment: 0.1

Minimum Throttle (ArduPlane:THR_MIN)

The minimum throttle setting to which the autopilot will apply.

  • Range: 0 100
  • Increment: 1
  • Units: Percent

Maximum Throttle (ArduPlane:THR_MAX)

The maximum throttle setting as a percentage which the autopilot will apply.

  • Range: 0 100
  • Increment: 1
  • Units: Percent

Maximum Throttle for takeoff (ArduPlane:TKOFF_THR_MAX)

Note: This parameter is for advanced users

The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.

  • Range: 0 100
  • Increment: 1
  • Units: Percent

Throttle slew rate (ArduPlane:THR_SLEWRATE)

maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second.

  • Range: 0 100
  • Increment: 1
  • Units: Percent

Throttle suppress manual passthru (ArduPlane:THR_SUPP_MAN)

Note: This parameter is for advanced users

When throttle is supressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff

    Value Meaning
    0 Disabled
    1 Enabled

Throttle passthru in stabilize (ArduPlane:THR_PASS_STAB)

Note: This parameter is for advanced users

If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.

    Value Meaning
    0 Disabled
    1 Enabled

Throttle Failsafe Enable (ArduPlane:THR_FAILSAFE)

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

    Value Meaning
    0 Disabled
    1 Enabled

Throttle Failsafe Value (ArduPlane:THR_FS_VALUE)

The PWM level on channel 3 below which throttle sailsafe triggers

  • Range: 925 1100
  • Increment: 1

Throttle cruise percentage (ArduPlane:TRIM_THROTTLE)

The target percentage of throttle to apply for normal flight

  • Range: 0 100
  • Increment: 1
  • Units: Percent

Throttle nudge enable (ArduPlane:THROTTLE_NUDGE)

When enabled, this uses the throttle input in auto-throttle modes to ‘nudge’ the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.

    Value Meaning
    0 Disabled
    1 Enabled

Short failsafe action (ArduPlane:FS_SHORT_ACTN)

The action to take on a short (FS_SHORT_TIMEOUT) failsafe event in AUTO, GUIDED or LOITER modes. A short failsafe event in stabilization modes will always cause an immediate change to CIRCLE mode. In AUTO mode you can choose whether it will enter CIRCLE mode or continue with the mission. If FS_SHORT_ACTN is 0 then it will continue with the mission, if it is 1 then it will enter CIRCLE mode, and then enter RTL if the failsafe condition persists for FS_LONG_TIMEOUT seconds. If it is set to 2 then the plane will enter FBWA mode with zero throttle and level attitude to glide in.

    Value Meaning
    0 Continue
    1 Circle/ReturnToLaunch
    2 Glide

Short failsafe timeout (ArduPlane:FS_SHORT_TIMEOUT)

The time in seconds that a failsafe condition has to persist before a short failsafe event will occor. This defaults to 1.5 seconds

  • Range: 1 100
  • Increment: 0.5
  • Units: seconds

Long failsafe action (ArduPlane:FS_LONG_ACTN)

The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event in AUTO, GUIDED or LOITER modes. A long failsafe event in stabilization modes will always cause an RTL (ReturnToLaunch). In AUTO modes you can choose whether it will RTL or continue with the mission. If FS_LONG_ACTN is 0 then it will continue with the mission, if it is 1 then it will enter RTL mode. Note that if FS_SHORT_ACTN is 1, then the aircraft will enter CIRCLE mode after FS_SHORT_TIMEOUT seconds of failsafe, and will always enter RTL after FS_LONG_TIMEOUT seconds of failsafe, regardless of the FS_LONG_ACTN setting. If FS_LONG_ACTN is set to 2 then instead of using RTL it will enter a FBWA glide with zero throttle.

    Value Meaning
    0 Continue
    1 ReturnToLaunch
    2 Glide

Long failsafe timeout (ArduPlane:FS_LONG_TIMEOUT)

The time in seconds that a failsafe condition has to persist before a long failsafe event will occor. This defaults to 20 seconds

  • Range: 1 300
  • Increment: 0.5
  • Units: seconds

Failsafe battery voltage (ArduPlane:FS_BATT_VOLTAGE)

Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode

  • Increment: 0.1
  • Units: Volts

Failsafe battery milliAmpHours (ArduPlane:FS_BATT_MAH)

Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately

  • Increment: 50
  • Units: mAh

GCS failsafe enable (ArduPlane:FS_GCS_ENABL)

Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggerded on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios). WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.

    Value Meaning
    0 Disabled
    1 Heartbeat
    2 HeartbeatAndREMRSSI

Flightmode channel (ArduPlane:FLTMODE_CH)

Note: This parameter is for advanced users

RC Channel to use for flight mode control

FlightMode1 (ArduPlane:FLTMODE1)

Flight mode for switch position 1 (910 to 1230 and above 2049)

    Value Meaning
    0 Manual
    1 CIRCLE
    2 STABILIZE
    3 TRAINING
    4 ACRO
    5 FBWA
    6 FBWB
    7 CRUISE
    8 AUTOTUNE
    10 Auto
    11 RTL
    12 Loiter
    15 Guided

FlightMode2 (ArduPlane:FLTMODE2)

Flight mode for switch position 2 (1231 to 1360)

    Value Meaning
    0 Manual
    1 CIRCLE
    2 STABILIZE
    3 TRAINING
    4 ACRO
    5 FBWA
    6 FBWB
    7 CRUISE
    8 AUTOTUNE
    10 Auto
    11 RTL
    12 Loiter
    15 Guided

FlightMode3 (ArduPlane:FLTMODE3)

Flight mode for switch position 3 (1361 to 1490)

    Value Meaning
    0 Manual
    1 CIRCLE
    2 STABILIZE
    3 TRAINING
    4 ACRO
    5 FBWA
    6 FBWB
    7 CRUISE
    8 AUTOTUNE
    10 Auto
    11 RTL
    12 Loiter
    15 Guided

FlightMode4 (ArduPlane:FLTMODE4)

Flight mode for switch position 4 (1491 to 1620)

    Value Meaning
    0 Manual
    1 CIRCLE
    2 STABILIZE
    3 TRAINING
    4 ACRO
    5 FBWA
    6 FBWB
    7 CRUISE
    8 AUTOTUNE
    10 Auto
    11 RTL
    12 Loiter
    15 Guided

FlightMode5 (ArduPlane:FLTMODE5)

Flight mode for switch position 5 (1621 to 1749)

    Value Meaning
    0 Manual
    1 CIRCLE
    2 STABILIZE
    3 TRAINING
    4 ACRO
    5 FBWA
    6 FBWB
    7 CRUISE
    8 AUTOTUNE
    10 Auto
    11 RTL
    12 Loiter
    15 Guided

FlightMode6 (ArduPlane:FLTMODE6)

Flight mode for switch position 6 (1750 to 2049)

    Value Meaning
    0 Manual
    1 CIRCLE
    2 STABILIZE
    3 TRAINING
    4 ACRO
    5 FBWA
    6 FBWB
    7 CRUISE
    8 AUTOTUNE
    10 Auto
    11 RTL
    12 Loiter
    15 Guided

Maximum Bank Angle (ArduPlane:LIM_ROLL_CD)

The maximum commanded bank angle in either direction

  • Range: 0 9000
  • Increment: 1
  • Units: centi-Degrees

Maximum Pitch Angle (ArduPlane:LIM_PITCH_MAX)

The maximum commanded pitch up angle

  • Range: 0 9000
  • Increment: 1
  • Units: centi-Degrees

Minimum Pitch Angle (ArduPlane:LIM_PITCH_MIN)

The minimum commanded pitch down angle

  • Range: -9000 0
  • Increment: 1
  • Units: centi-Degrees

ACRO mode roll rate (ArduPlane:ACRO_ROLL_RATE)

The maximum roll rate at full stick deflection in ACRO mode

  • Range: 10 500
  • Increment: 1
  • Units: degrees/second

ACRO mode pitch rate (ArduPlane:ACRO_PITCH_RATE)

The maximum pitch rate at full stick deflection in ACRO mode

  • Range: 10 500
  • Increment: 1
  • Units: degrees/second

ACRO mode attitude locking (ArduPlane:ACRO_LOCKING)

Enable attitude locking when sticks are released

    Value Meaning
    0 Disabled
    1 Enabled

Ground steer altitude (ArduPlane:GROUND_STEER_ALT)

Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.

  • Range: -100 100
  • Increment: 0.1
  • Units: Meters

Ground steer rate (ArduPlane:GROUND_STEER_DPS)

Note: This parameter is for advanced users

Ground steering rate in degrees per second for full rudder stick deflection

  • Range: 10 360
  • Increment: 1
  • Units: degrees/second

Automatic trim adjustment (ArduPlane:TRIM_AUTO)

Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights.

    Value Meaning
    0 Disabled
    1 Enabled

Elevon mixing (ArduPlane:ELEVON_MIXING)

Enable elevon mixing on both input and output. To enable just output mixing see the ELEVON_OUTPUT option.

    Value Meaning
    0 Disabled
    1 Enabled

Elevon reverse (ArduPlane:ELEVON_REVERSE)

Reverse elevon mixing

    Value Meaning
    0 Disabled
    1 Enabled

Elevon reverse (ArduPlane:ELEVON_CH1_REV)

Reverse elevon channel 1

    Value Meaning
    -1 Disabled
    1 Enabled

Elevon reverse (ArduPlane:ELEVON_CH2_REV)

Reverse elevon channel 2

    Value Meaning
    -1 Disabled
    1 Enabled

VTail output (ArduPlane:VTAIL_OUTPUT)

Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer.

    Value Meaning
    0 Disabled
    1 UpUp
    2 UpDown
    3 DownUp
    4 DownDown

Elevon output (ArduPlane:ELEVON_OUTPUT)

Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer.

    Value Meaning
    0 Disabled
    1 UpUp
    2 UpDown
    3 DownUp
    4 DownDown

Mixing Gain (ArduPlane:MIXING_GAIN)

The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn’t saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don’t have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.

  • Range: 0.5 1.2

Num Resets (ArduPlane:SYS_NUM_RESETS)

Note: This parameter is for advanced users

Number of APM board resets

Log bitmask (ArduPlane:LOG_BITMASK)

Note: This parameter is for advanced users

Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, LogWhenDisarmed=65536

    Value Meaning
    0 Disabled
    5190 APM2-Default
    65535 PX4/Pixhawk-Default

Reset Switch Channel (ArduPlane:RST_SWITCH_CH)

Note: This parameter is for advanced users

RC channel to use to reset to last flight mode after geofence takeover.

Reset Mission Channel (ArduPlane:RST_MISSION_CH)

Note: This parameter is for advanced users

RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable.

Target airspeed (ArduPlane:TRIM_ARSPD_CM)

Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed.

  • Units: cm/s

speed used for speed scaling calculations (ArduPlane:SCALING_SPEED)

Note: This parameter is for advanced users

Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values

  • Units: m/s

Minimum ground speed (ArduPlane:MIN_GNDSPD_CM)

Note: This parameter is for advanced users

Minimum ground speed in cm/s when under airspeed control

  • Units: cm/s

Pitch angle offset (ArduPlane:TRIM_PITCH_CD)

Note: This parameter is for advanced users

offset to add to pitch – used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude.

  • Units: centi-Degrees

RTL altitude (ArduPlane:ALT_HOLD_RTL)

Return to launch target altitude. This is the altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the alitude of the Rally Point is used instead of ALT_HOLD_RTL.

  • Units: centimeters

Minimum altitude for FBWB mode (ArduPlane:ALT_HOLD_FBWCM)

This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit.

  • Units: centimeters

Enable Compass (ArduPlane:MAG_ENABLE)

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.

    Value Meaning
    0 Disabled
    1 Enabled

Flap input channel (ArduPlane:FLAP_IN_CHANNEL)

An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting.

Flaperon output (ArduPlane:FLAPERON_OUTPUT)

Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxillary channels. There are 4 different mixing modes available, which refer to the 4 ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you must not use flaperon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable FLAPERON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING.

    Value Meaning
    0 Disabled
    1 UpUp
    2 UpDown
    3 DownUp
    4 DownDown

Flap 1 percentage (ArduPlane:FLAP_1_PERCNT)

Note: This parameter is for advanced users

The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps

  • Range: 0 100
  • Units: Percent

Flap 1 speed (ArduPlane:FLAP_1_SPEED)

Note: This parameter is for advanced users

The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

  • Range: 0 100
  • Increment: 1
  • Units: m/s

Flap 2 percentage (ArduPlane:FLAP_2_PERCNT)

Note: This parameter is for advanced users

The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps

  • Range: 0 100
  • Units: Percent

Flap 2 speed (ArduPlane:FLAP_2_SPEED)

Note: This parameter is for advanced users

The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

  • Range: 0 100
  • Increment: 1
  • Units: m/s

Receiver RSSI sensing pin (ArduPlane:RSSI_PIN)

This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum

    Value Meaning
    -1 Disabled
    0 APM2 A0
    1 APM2 A1
    13 APM2 A13
    103 Pixhawk SBUS

Receiver RSSI voltage range (ArduPlane:RSSI_RANGE)

Receiver RSSI voltage range

  • Values: 3.3:3.3V, 5.0:5V
  • Units: Volt

Inverted flight channel (ArduPlane:INVERTEDFLT_CH)

A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the correcponding RC input channel and will enable inverted flight when the channel goes above 1750.

    Value Meaning
    0 Disabled
    1 Channel1
    2 Channel2
    3 Channel3
    4 Channel4
    5 Channel5
    6 Channel6
    7 Channel7
    8 Channel8

HIL Servos enable (ArduPlane:HIL_SERVOS)

Note: This parameter is for advanced users

This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option.

    Value Meaning
    0 Disabled
    1 Enabled

Limit of error in HIL attitude before reset (ArduPlane:HIL_ERR_LIMIT)

Note: This parameter is for advanced users

This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies.

  • Range: 0 90
  • Increment: 0.1
  • Units: degrees

Library Parameters

GND_ Parameters

Absolute Pressure (GND_ABS_PRESS)

calibrated ground pressure in Pascals

  • Increment: 1

ground temperature (GND_TEMP)

calibrated ground temperature in degrees Celsius

  • Increment: 1

altitude offset (GND_ALT_OFFSET)

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

  • Range: -128 127
  • Increment: 1
  • Units: meters

GPS_ Parameters

GPS type (GPS_TYPE)

GPS type

    Value Meaning
    0 None
    1 AUTO
    2 uBlox
    3 MTK
    4 MTK19
    5 NMEA
    6 SiRF
    7 HIL
    8 SwiftNav

2nd GPS type (GPS_TYPE2)

GPS type of 2nd GPS

    Value Meaning
    0 None
    1 AUTO
    2 uBlox
    3 MTK
    4 MTK19
    5 NMEA
    6 SiRF
    7 HIL
    8 SwiftNav

Navigation filter setting (GPS_NAVFILTER)

Navigation filter engine setting

    Value Meaning
    0 Portable
    2 Stationary
    3 Pedestrian
    4 Automotive
    5 Sea
    6 Airborne1G
    7 Airborne2G
    8 Airborne4G

Automatic Switchover Setting (GPS_AUTO_SWITCH)

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock

    Value Meaning
    0 Disabled
    1 Enabled

Minimum Lock Type Accepted for DGPS (GPS_DGPS_MIN_LOCK)

Note: This parameter is for advanced users

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

    Value Meaning
    0 Any
    50 FloatRTK
    100 IntegerRTK

CAM_ Parameters

Camera shutter (trigger) type (CAM_TRIGG_TYPE)

how to trigger the camera to take a picture

    Value Meaning
    0 Servo
    1 Relay

Duration that shutter is held open (CAM_DURATION)

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

  • Range: 0 50

Servo ON PWM value (CAM_SERVO_ON)

PWM value to move servo to when shutter is activated

  • Range: 1000 2000

Servo OFF PWM value (CAM_SERVO_OFF)

PWM value to move servo to when shutter is deactivated

  • Range: 1000 2000

Camera trigger distance (CAM_TRIGG_DIST)

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

  • Range: 0 1000

ARMING_ Parameters

Require Arming Motors (ARMING_REQUIRE)

Note: This parameter is for advanced users

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

    Value Meaning
    0 Disabled
    1 THR_MIN PWM when disarmed
    2 0 PWM when disarmed

Disable Rudder Arming (ARMING_DIS_RUD)

Note: This parameter is for advanced users

Do not allow arming via the rudder input stick.

    Value Meaning
    0 Disabled (Rudder Arming Allowed)
    1 Enabled(No Rudder Arming)

Arm Checks to Peform (bitmask) (ARMING_CHECK)

Note: This parameter is for advanced users

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

    Value Meaning
    0 None
    1 All
    2 Barometer
    4 Compass
    8 GPS
    16 INS
    32 Parameters
    64 Manual RC Trasmitter
    128 Board voltage
    256 Battery Level

RELAY_ Parameters

First Relay Pin (RELAY_PIN)

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

    Value Meaning
    -1 Disabled
    13 APM2 A9 pin
    47 APM1 relay
    50 Pixhawk FMU AUX1
    51 Pixhawk FMU AUX2
    52 Pixhawk FMU AUX3
    53 Pixhawk FMU AUX4
    54 Pixhawk FMU AUX5
    55 Pixhawk FMU AUX6
    111 PX4 FMU Relay1
    112 PX4 FMU Relay2
    113 PX4IO Relay1
    114 PX4IO Relay2
    115 PX4IO ACC1
    116 PX4IO ACC2

Second Relay Pin (RELAY_PIN2)

Digital pin number for 2nd relay control.

    Value Meaning
    -1 Disabled
    13 APM2 A9 pin
    47 APM1 relay
    50 Pixhawk FMU AUX1
    51 Pixhawk FMU AUX2
    52 Pixhawk FMU AUX3
    53 Pixhawk FMU AUX4
    54 Pixhawk FMU AUX5
    55 Pixhawk FMU AUX6
    111 PX4 FMU Relay1
    112 PX4 FMU Relay2
    113 PX4IO Relay1
    114 PX4IO Relay2
    115 PX4IO ACC1
    116 PX4IO ACC2

Third Relay Pin (RELAY_PIN3)

Digital pin number for 3rd relay control.

    Value Meaning
    -1 Disabled
    13 APM2 A9 pin
    47 APM1 relay
    50 Pixhawk FMU AUX1
    51 Pixhawk FMU AUX2
    52 Pixhawk FMU AUX3
    53 Pixhawk FMU AUX4
    54 Pixhawk FMU AUX5
    55 Pixhawk FMU AUX6
    111 PX4 FMU Relay1
    112 PX4 FMU Relay2
    113 PX4IO Relay1
    114 PX4IO Relay2
    115 PX4IO ACC1
    116 PX4IO ACC2

Fourth Relay Pin (RELAY_PIN4)

Digital pin number for 4th relay control.

    Value Meaning
    -1 Disabled
    13 APM2 A9 pin
    47 APM1 relay
    50 Pixhawk FMU AUX1
    51 Pixhawk FMU AUX2
    52 Pixhawk FMU AUX3
    53 Pixhawk FMU AUX4
    54 Pixhawk FMU AUX5
    55 Pixhawk FMU AUX6
    111 PX4 FMU Relay1
    112 PX4 FMU Relay2
    113 PX4IO Relay1
    114 PX4IO Relay2
    115 PX4IO ACC1
    116 PX4IO ACC2

RNGFND Parameters

Rangefinder type (RNGFND_TYPE)

What type of rangefinder device that is connected

    Value Meaning
    0 None
    1 Analog
    2 APM2-MaxbotixI2C
    3 APM2-PulsedLightI2C
    4 PX4

Rangefinder pin (RNGFND_PIN)

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

Rangefinder scaling (RNGFND_SCALING)

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

  • Units: meters/Volt
  • Increment: 0.001

rangefinder offset (RNGFND_OFFSET)

Offset in volts for zero distance

  • Units: Volts
  • Increment: 0.001

Rangefinder function (RNGFND_FUNCTION)

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

    Value Meaning
    0 Linear
    1 Inverted
    2 Hyperbolic

Rangefinder minimum distance (RNGFND_MIN_CM)

Minimum distance in centimeters that rangefinder can reliably read

  • Units: centimeters
  • Increment: 1

Rangefinder maximum distance (RNGFND_MAX_CM)

Maximum distance in centimeters that rangefinder can reliably read

  • Units: centimeters
  • Increment: 1

Rangefinder stop pin (RNGFND_STOP_PIN)

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

Rangefinder settle time (RNGFND_SETTLE_MS)

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

  • Units: milliseconds
  • Increment: 1

Ratiometric (RNGFND_RMETRIC)

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

    Value Meaning
    0 No
    1 Yes

Second Rangefinder type (RNGFND2_TYPE)

What type of rangefinder device that is connected

    Value Meaning
    0 None
    1 Analog
    2 APM2-MaxbotixI2C
    3 APM2-PulsedLightI2C
    4 PX4

Rangefinder pin (RNGFND2_PIN)

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

Rangefinder scaling (RNGFND2_SCALING)

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

  • Units: meters/Volt
  • Increment: 0.001

rangefinder offset (RNGFND2_OFFSET)

Offset in volts for zero distance

  • Units: Volts
  • Increment: 0.001

Rangefinder function (RNGFND2_FUNCTION)

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

    Value Meaning
    0 Linear
    1 Inverted
    2 Hyperbolic

Rangefinder minimum distance (RNGFND2_MIN_CM)

Minimum distance in centimeters that rangefinder can reliably read

  • Units: centimeters
  • Increment: 1

Rangefinder maximum distance (RNGFND2_MAX_CM)

Maximum distance in centimeters that rangefinder can reliably read

  • Units: centimeters
  • Increment: 1

Rangefinder stop pin (RNGFND2_STOP_PIN)

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

Sonar settle time (RNGFND2_SETTLE_MS)

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

  • Units: milliseconds
  • Increment: 1

Ratiometric (RNGFND2_RMETRIC)

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

    Value Meaning
    0 No
    1 Yes

TERRAIN_ Parameters

Terrain data enable (TERRAIN_ENABLE)

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.

    Value Meaning
    0 Disable
    1 Enable

Terrain grid spacing (TERRAIN_SPACING)

Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.

  • Units: meters
  • Increment: 1

RC1_ Parameters

RC min PWM (RC1_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC1_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC1_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC1_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC1_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

RC2_ Parameters

RC min PWM (RC2_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC2_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC2_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC2_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC2_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

RC3_ Parameters

RC min PWM (RC3_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC3_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC3_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC3_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC3_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

RC4_ Parameters

RC min PWM (RC4_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC4_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC4_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC4_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC4_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

RC5_ Parameters

RC min PWM (RC5_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC5_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC5_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC5_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC5_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC5_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RC6_ Parameters

RC min PWM (RC6_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC6_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC6_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC6_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC6_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC6_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RC7_ Parameters

RC min PWM (RC7_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC7_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC7_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC7_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC7_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC7_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RC8_ Parameters

RC min PWM (RC8_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC8_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC8_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC8_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC8_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC8_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RC9_ Parameters

RC min PWM (RC9_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC9_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC9_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC9_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC9_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC9_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RC10_ Parameters

RC min PWM (RC10_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC10_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC10_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC10_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC10_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC10_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RC11_ Parameters

RC min PWM (RC11_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC11_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC11_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC11_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC11_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC11_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RC12_ Parameters

RC min PWM (RC12_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC12_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC12_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC12_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC12_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC12_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RC13_ Parameters

RC min PWM (RC13_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC13_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC13_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC13_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC13_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC13_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RC14_ Parameters

RC min PWM (RC14_MIN)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC trim PWM (RC14_TRIM)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC max PWM (RC14_MAX)

Note: This parameter is for advanced users

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

  • Range: 800 2200
  • Increment: 1
  • Units: pwm

RC reverse (RC14_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

    Value Meaning
    -1 Reversed
    1 Normal

RC dead-zone (RC14_DZ)

Note: This parameter is for advanced users

dead zone around trim.

  • Range: 0 200
  • Units: pwm

Servo out function (RC14_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

    Value Meaning
    0 Disabled
    1 RCPassThru
    2 Flap
    3 Flap_auto
    4 Aileron
    6 mount_pan
    7 mount_tilt
    8 mount_roll
    9 mount_open
    10 camera_trigger
    11 release
    12 mount2_pan
    13 mount2_tilt
    14 mount2_roll
    15 mount2_open
    16 DifferentialSpoiler1
    17 DifferentialSpoiler2
    18 AileronWithInput
    19 Elevator
    20 ElevatorWithInput
    21 Rudder
    24 Flaperon1
    25 Flaperon2
    26 GroundSteering
    27 Parachute

RLL2SRV_ Parameters

Roll Time Constant (RLL2SRV_TCONST)

Note: This parameter is for advanced users

This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.

  • Range: 0.4 1.0
  • Increment: 0.1
  • Units: seconds

Proportional Gain (RLL2SRV_P)

This is the gain from bank angle to aileron. This gain works the same way as the P term in the old PID (RLL2SRV_P) and can be set to the same value.

  • Range: 0.1 4.0
  • Increment: 0.1

Damping Gain (RLL2SRV_D)

This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe.

  • Range: 0 0.1
  • Increment: 0.01

Integrator Gain (RLL2SRV_I)

This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft.

  • Range: 0 1.0
  • Increment: 0.05

Maximum Roll Rate (RLL2SRV_RMAX)

Note: This parameter is for advanced users

This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can’t keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default.

  • Range: 0 180
  • Increment: 1
  • Units: degrees/second

Integrator limit (RLL2SRV_IMAX)

Note: This parameter is for advanced users

This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the aircraft is severely out of trim.

  • Range: 0 4500
  • Increment: 1

PTCH2SRV_ Parameters

Pitch Time Constant (PTCH2SRV_TCONST)

Note: This parameter is for advanced users

This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.

  • Range: 0.4 1.0
  • Increment: 0.1
  • Units: seconds

Proportional Gain (PTCH2SRV_P)

This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value.

  • Range: 0.1 3.0
  • Increment: 0.1

Damping Gain (PTCH2SRV_D)

This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe.

  • Range: 0 0.1
  • Increment: 0.01

Integrator Gain (PTCH2SRV_I)

This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle.

  • Range: 0 0.5
  • Increment: 0.05

Pitch up max rate (PTCH2SRV_RMAX_UP)

Note: This parameter is for advanced users

This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.

  • Range: 0 100
  • Increment: 1
  • Units: degrees/second

Pitch down max rate (PTCH2SRV_RMAX_DN)

Note: This parameter is for advanced users

This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.

  • Range: 0 100
  • Increment: 1
  • Units: degrees/second

Roll compensation (PTCH2SRV_RLL)

This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased.

  • Range: 0.7 1.5
  • Increment: 0.05

Integrator limit (PTCH2SRV_IMAX)

Note: This parameter is for advanced users

This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness.

  • Range: 0 4500
  • Increment: 1

YAW2SRV_ Parameters

Sideslip control gain (YAW2SRV_SLIP)

This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required.

  • Range: 0 4
  • Increment: 0.25

Sidelsip control integrator (YAW2SRV_INT)

This is the integral gain from lateral acceleration error. This gain should only be non-zero if active control over sideslip is desired. If active control over sideslip is required then this can be set to 1.0 as a first try.

  • Range: 0 2
  • Increment: 0.25

Yaw damping (YAW2SRV_DAMP)

This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping term is zero then the integrator will also be disabled.

  • Range: 0 2
  • Increment: 0.25

Yaw coordination gain (YAW2SRV_RLL)

This is the gain term that is applied to the yaw rate offset calculated as required to keep the yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will work for all models. Advanced users can use it to correct for any tendency to yaw away from or into the turn once the turn is established. Increase to make the model yaw more initially and decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are required then it normally indicates a problem with the airspeed calibration.

  • Range: 0.8 1.2
  • Increment: 0.05

Integrator limit (YAW2SRV_IMAX)

Note: This parameter is for advanced users

This limits the number of centi-degrees of rudder over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited rudder control effectiveness.

  • Range: 0 4500
  • Increment: 1

STEER2SRV_ Parameters

Steering Time Constant (STEER2SRV_TCONST)

Note: This parameter is for advanced users

This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve.

  • Range: 0.4 1.0
  • Increment: 0.1
  • Units: seconds

Steering turning gain (STEER2SRV_P)

The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle

  • Range: 0.1 10.0
  • Increment: 0.1

Integrator Gain (STEER2SRV_I)

This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.

  • Range: 0 1.0
  • Increment: 0.05

Damping Gain (STEER2SRV_D)

This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.

  • Range: 0 0.1
  • Increment: 0.01

Integrator limit (STEER2SRV_IMAX)

Note: This parameter is for advanced users

This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.

  • Range: 0 4500
  • Increment: 1

Minimum speed (STEER2SRV_MINSPD)

This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still driver slower than this limit, but the steering calculations will be done based on this minimum speed.

  • Range: 0 5
  • Increment: 0.1
  • Units: m/s

COMPASS_ Parameters

Compass offsets on the X axis (COMPASS_OFS_X)

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

  • Range: -400 400
  • Increment: 1

Compass offsets on the Y axis (COMPASS_OFS_Y)

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

  • Range: -400 400
  • Increment: 1

Compass offsets on the Z axis (COMPASS_OFS_Z)

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

  • Range: -400 400
  • Increment: 1

Compass declination (COMPASS_DEC)

An angle to compensate between the true north and magnetic north

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

Learn compass offsets automatically (COMPASS_LEARN)

Note: This parameter is for advanced users

Enable or disable the automatic learning of compass offsets

    Value Meaning
    0 Disabled
    1 Enabled

Use compass for yaw (COMPASS_USE)

Note: This parameter is for advanced users

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

    Value Meaning
    0 Disabled
    1 Enabled

Auto Declination (COMPASS_AUTODEC)

Note: This parameter is for advanced users

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

    Value Meaning
    0 Disabled
    1 Enabled

Motor interference compensation type (COMPASS_MOTCT)

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

    Value Meaning
    0 Disabled
    1 Use Throttle
    2 Use Current
  • Increment: 1

Motor interference compensation for body frame X axis (COMPASS_MOT_X)

Multiplied by the current throttle and added to the compass’s x-axis values to compensate for motor interference

  • Range: -1000 1000
  • Increment: 1
  • Units: Offset per Amp or at Full Throttle

Motor interference compensation for body frame Y axis (COMPASS_MOT_Y)

Multiplied by the current throttle and added to the compass’s y-axis values to compensate for motor interference

  • Range: -1000 1000
  • Increment: 1
  • Units: Offset per Amp or at Full Throttle

Motor interference compensation for body frame Z axis (COMPASS_MOT_Z)

Multiplied by the current throttle and added to the compass’s z-axis values to compensate for motor interference

  • Range: -1000 1000
  • Increment: 1
  • Units: Offset per Amp or at Full Throttle

Compass orientation (COMPASS_ORIENT)

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

    Value Meaning
    0 None
    1 Yaw45
    2 Yaw90
    3 Yaw135
    4 Yaw180
    5 Yaw225
    6 Yaw270
    7 Yaw315
    8 Roll180
    9 Roll180Yaw45
    10 Roll180Yaw90
    11 Roll180Yaw135
    12 Pitch180
    13 Roll180Yaw225
    14 Roll180Yaw270
    15 Roll180Yaw315
    16 Roll90
    17 Roll90Yaw45
    18 Roll90Yaw90
    19 Roll90Yaw135
    20 Roll270
    21 Roll270Yaw45
    22 Roll270Yaw90
    23 Roll270Yaw136
    24 Pitch90
    25 Pitch270
    26 Pitch180Yaw90
    27 Pitch180Yaw270
    28 Roll90Pitch90
    29 Roll180Pitch90
    30 Roll270Pitch90
    31 Roll90Pitch180
    32 Roll270Pitch180
    33 Roll90Pitch270
    34 Roll180Pitch270
    35 Roll270Pitch270
    36 Roll90Pitch180Yaw90
    37 Roll90Yaw270

Compass is attached via an external cable (COMPASS_EXTERNAL)

Note: This parameter is for advanced users

Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option

    Value Meaning
    0 Internal
    1 External

Choose primary compass (COMPASS_PRIMARY)

Note: This parameter is for advanced users

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

    Value Meaning
    0 FirstCompass
    1 SecondCompass

Compass device id (COMPASS_DEV_ID)

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

Compass2 device id (COMPASS_DEV_ID2)

Note: This parameter is for advanced users

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

Compass3 device id (COMPASS_DEV_ID3)

Note: This parameter is for advanced users

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

SCHED_ Parameters

Scheduler debug level (SCHED_DEBUG)

Note: This parameter is for advanced users

Set to non-zero to enable scheduler debug messages. When set to show “Slips” the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

    Value Meaning
    0 Disabled
    2 ShowSlips
    3 ShowOverruns

RCMAP_ Parameters

Roll channel (RCMAP_ROLL)

Note: This parameter is for advanced users

Roll channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.

  • Range: 1 8
  • Increment: 1

Pitch channel (RCMAP_PITCH)

Note: This parameter is for advanced users

Pitch channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.

  • Range: 1 8
  • Increment: 1

Throttle channel (RCMAP_THROTTLE)

Note: This parameter is for advanced users

Throttle channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.

  • Range: 1 8
  • Increment: 1

Yaw channel (RCMAP_YAW)

Note: This parameter is for advanced users

Yaw channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.

  • Range: 1 8
  • Increment: 1

SR0_ Parameters

Raw sensor stream rate (SR0_RAW_SENS)

Note: This parameter is for advanced users

Raw sensor stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extended status stream rate to ground station (SR0_EXT_STAT)

Note: This parameter is for advanced users

Extended status stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

RC Channel stream rate to ground station (SR0_RC_CHAN)

Note: This parameter is for advanced users

RC Channel stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Raw Control stream rate to ground station (SR0_RAW_CTRL)

Note: This parameter is for advanced users

Raw Control stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Position stream rate to ground station (SR0_POSITION)

Note: This parameter is for advanced users

Position stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extra data type 1 stream rate to ground station (SR0_EXTRA1)

Note: This parameter is for advanced users

Extra data type 1 stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extra data type 2 stream rate to ground station (SR0_EXTRA2)

Note: This parameter is for advanced users

Extra data type 2 stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extra data type 3 stream rate to ground station (SR0_EXTRA3)

Note: This parameter is for advanced users

Extra data type 3 stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Parameter stream rate to ground station (SR0_PARAMS)

Note: This parameter is for advanced users

Parameter stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

SR1_ Parameters

Raw sensor stream rate (SR1_RAW_SENS)

Note: This parameter is for advanced users

Raw sensor stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extended status stream rate to ground station (SR1_EXT_STAT)

Note: This parameter is for advanced users

Extended status stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

RC Channel stream rate to ground station (SR1_RC_CHAN)

Note: This parameter is for advanced users

RC Channel stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Raw Control stream rate to ground station (SR1_RAW_CTRL)

Note: This parameter is for advanced users

Raw Control stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Position stream rate to ground station (SR1_POSITION)

Note: This parameter is for advanced users

Position stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extra data type 1 stream rate to ground station (SR1_EXTRA1)

Note: This parameter is for advanced users

Extra data type 1 stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extra data type 2 stream rate to ground station (SR1_EXTRA2)

Note: This parameter is for advanced users

Extra data type 2 stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extra data type 3 stream rate to ground station (SR1_EXTRA3)

Note: This parameter is for advanced users

Extra data type 3 stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Parameter stream rate to ground station (SR1_PARAMS)

Note: This parameter is for advanced users

Parameter stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

SR2_ Parameters

Raw sensor stream rate (SR2_RAW_SENS)

Note: This parameter is for advanced users

Raw sensor stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extended status stream rate to ground station (SR2_EXT_STAT)

Note: This parameter is for advanced users

Extended status stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

RC Channel stream rate to ground station (SR2_RC_CHAN)

Note: This parameter is for advanced users

RC Channel stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Raw Control stream rate to ground station (SR2_RAW_CTRL)

Note: This parameter is for advanced users

Raw Control stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Position stream rate to ground station (SR2_POSITION)

Note: This parameter is for advanced users

Position stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extra data type 1 stream rate to ground station (SR2_EXTRA1)

Note: This parameter is for advanced users

Extra data type 1 stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extra data type 2 stream rate to ground station (SR2_EXTRA2)

Note: This parameter is for advanced users

Extra data type 2 stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Extra data type 3 stream rate to ground station (SR2_EXTRA3)

Note: This parameter is for advanced users

Extra data type 3 stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

Parameter stream rate to ground station (SR2_PARAMS)

Note: This parameter is for advanced users

Parameter stream rate to ground station

  • Range: 0 10
  • Increment: 1
  • Units: Hz

INS_ Parameters

IMU Product ID (INS_PRODUCT_ID)

Note: This parameter is for advanced users

Which type of IMU is installed (read-only).

    Value Meaning
    0 Unknown
    1 APM1-1280
    2 APM1-2560
    88 APM2
    3 SITL
    4 PX4v1
    5 PX4v2
    256 Flymaple
    257 Linux

Accelerometer scaling of X axis (INS_ACCSCAL_X)

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

  • Range: 0.8 1.2

Accelerometer scaling of Y axis (INS_ACCSCAL_Y)

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

  • Range: 0.8 1.2

Accelerometer scaling of Z axis (INS_ACCSCAL_Z)

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

  • Range: 0.8 1.2

Accelerometer offsets of X axis (INS_ACCOFFS_X)

Note: This parameter is for advanced users

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

  • Range: -300 300
  • Units: m/s/s

Accelerometer offsets of Y axis (INS_ACCOFFS_Y)

Note: This parameter is for advanced users

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

  • Range: -300 300
  • Units: m/s/s

Accelerometer offsets of Z axis (INS_ACCOFFS_Z)

Note: This parameter is for advanced users

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

  • Range: -300 300
  • Units: m/s/s

Gyro offsets of X axis (INS_GYROFFS_X)

Note: This parameter is for advanced users

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

  • Units: rad/s

Gyro offsets of Y axis (INS_GYROFFS_Y)

Note: This parameter is for advanced users

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

  • Units: rad/s

Gyro offsets of Z axis (INS_GYROFFS_Z)

Note: This parameter is for advanced users

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

  • Units: rad/s

MPU6000 filter frequency (INS_MPU6K_FILTER)

Note: This parameter is for advanced users

Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation

    Value Meaning
    0 Default
    5 5Hz
    10 10Hz
    20 20Hz
    42 42Hz
    98 98Hz
  • Units: Hz

AHRS_ Parameters

AHRS GPS gain (AHRS_GPS_GAIN)

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

  • Range: 0.0 1.0
  • Increment: .01

AHRS use GPS for navigation (AHRS_GPS_USE)

Note: This parameter is for advanced users

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

    Value Meaning
    0 Disabled
    1 Enabled

Yaw P (AHRS_YAW_P)

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

  • Range: 0.1 0.4
  • Increment: .01

AHRS RP_P (AHRS_RP_P)

This controls how fast the accelerometers correct the attitude

  • Range: 0.1 0.4
  • Increment: .01

Maximum wind (AHRS_WIND_MAX)

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

  • Range: 0 127
  • Increment: 1
  • Units: m/s

AHRS Trim Roll (AHRS_TRIM_X)

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

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

AHRS Trim Pitch (AHRS_TRIM_Y)

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

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

AHRS Trim Yaw (AHRS_TRIM_Z)

Note: This parameter is for advanced users

Not Used

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

Board Orientation (AHRS_ORIENTATION)

Note: This parameter is for advanced users

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

    Value Meaning
    0 None
    1 Yaw45
    2 Yaw90
    3 Yaw135
    4 Yaw180
    5 Yaw225
    6 Yaw270
    7 Yaw315
    8 Roll180
    9 Roll180Yaw45
    10 Roll180Yaw90
    11 Roll180Yaw135
    12 Pitch180
    13 Roll180Yaw225
    14 Roll180Yaw270
    15 Roll180Yaw315
    16 Roll90
    17 Roll90Yaw45
    18 Roll90Yaw90
    19 Roll90Yaw135
    20 Roll270
    21 Roll270Yaw45
    22 Roll270Yaw90
    23 Roll270Yaw136
    24 Pitch90
    25 Pitch270
    26 Pitch180Yaw90
    27 Pitch180Yaw270
    28 Roll90Pitch90
    29 Roll180Pitch90
    30 Roll270Pitch90
    31 Roll90Pitch180
    32 Roll270Pitch180
    33 Roll90Pitch270
    34 Roll180Pitch270
    35 Roll270Pitch270
    36 Roll90Pitch180Yaw90
    37 Roll90Yaw270

AHRS Velocity Complmentary Filter Beta Coefficient (AHRS_COMP_BETA)

Note: This parameter is for advanced users

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

  • Range: 0.001 0.5
  • Increment: .01

AHRS GPS Minimum satellites (AHRS_GPS_MINSATS)

Note: This parameter is for advanced users

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

  • Range: 0 10
  • Increment: 1

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

Note: This parameter is for advanced users

This controls whether the NavEKF Kalman filter is used for attitude and position estimation

    Value Meaning
    0 Disabled
    1 Enabled

ARSPD_ Parameters

Airspeed enable (ARSPD_ENABLE)

enable airspeed sensor

    Value Meaning
    0 Disable
    1 Enable

Airspeed use (ARSPD_USE)

use airspeed for flight control

    Value Meaning
    1 Use
    0 Don’t Use

Airspeed offset (ARSPD_OFFSET)

Airspeed calibration offset

  • Increment: 0.1

Airspeed ratio (ARSPD_RATIO)

Airspeed calibration ratio

  • Increment: 0.1

Airspeed pin (ARSPD_PIN)

Note: This parameter is for advanced users

The analog pin number that the airspeed sensor is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated airspeed port on the end of the board. Set to 11 on PX4 for the analog airspeed port. Set to 15 on the Pixhawk for the analog airspeed port. Set to 65 on the PX4 or Pixhawk for an EagleTree or MEAS I2C airspeed sensor.

Automatic airspeed ratio calibration (ARSPD_AUTOCAL)

Note: This parameter is for advanced users

If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%

Control pitot tube order (ARSPD_TUBE_ORDER)

Note: This parameter is for advanced users

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

NAVL1_ Parameters

L1 control period (NAVL1_PERIOD)

Period in seconds of L1 tracking loop. This needs to be larger for less responsive airframes. The default of 30 is very conservative, and for most RC aircraft will lead to slow and lazy turns. For smaller more agile aircraft a value closer to 20 is appropriate. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.

  • Range: 1-60
  • Increment: 1
  • Units: seconds

L1 control damping ratio (NAVL1_DAMPING)

Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.

  • Range: 0.6-1.0
  • Increment: 0.05

TECS_ Parameters

Maximum Climb Rate (metres/sec) (TECS_CLMB_MAX)

This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand require to climb and maintain speed is noticeably less than THR_MAX, then either CLMB_MAX should be increased or THR_MAX reduced.

  • Increment: 0.1

Minimum Sink Rate (metres/sec) (TECS_SINK_MIN)

This is the sink rate of the aircraft with the throttle set to THR_MIN and the same airspeed as used to measure CLMB_MAX.

  • Increment: 0.1

Controller time constant (sec) (TECS_TIME_CONST)

Note: This parameter is for advanced users

This is the time constant of the TECS control algorithm. Smaller values make it faster to respond, large values make it slower to respond.

  • Range: 3.0-10.0
  • Increment: 0.2

Controller throttle damping (TECS_THR_DAMP)

Note: This parameter is for advanced users

This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.

  • Range: 0.1-1.0
  • Increment: 0.1

Controller integrator (TECS_INTEG_GAIN)

Note: This parameter is for advanced users

This is the integrator gain on the control loop. Increase to increase the rate at which speed and height offsets are trimmed out

  • Range: 0.0-0.5
  • Increment: 0.02

Vertical Acceleration Limit (metres/sec^2) (TECS_VERT_ACC)

Note: This parameter is for advanced users

This is the maximum vertical acceleration either up or down that the controller will use to correct speed or height errors.

  • Range: 1.0-10.0
  • Increment: 0.5

Height complementary filter frequency (radians/sec) (TECS_HGT_OMEGA)

Note: This parameter is for advanced users

This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height.

  • Range: 1.0-5.0
  • Increment: 0.05

Speed complementary filter frequency (radians/sec) (TECS_SPD_OMEGA)

Note: This parameter is for advanced users

This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed.

  • Range: 0.5-2.0
  • Increment: 0.05

Bank angle compensation gain (TECS_RLL2THR)

Note: This parameter is for advanced users

Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.

  • Range: 5.0 to 30.0
  • Increment: 1.0

Weighting applied to speed control (TECS_SPDWEIGHT)

Note: This parameter is for advanced users

This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airsped errors, but give larger height errors. A value of 1.0 gives a balanced response and is the default.

  • Range: 0.0 to 2.0
  • Increment: 0.1

Controller pitch damping (TECS_PTCH_DAMP)

Note: This parameter is for advanced users

This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in speed and height.

  • Range: 0.1-1.0
  • Increment: 0.1

Maximum Descent Rate (metres/sec) (TECS_SINK_MAX)

This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft will reach the pitch angle limit first and be enable to achieve the descent rate. This should be set to a value that can be achieved at the lower pitch angle limit.

  • Increment: 0.1

Airspeed during landing approach (m/s) (TECS_LAND_ARSPD)

When performing an autonomus landing, this value is used as the goal airspeed during approach. Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead). If negative then this value is not used during landing.

  • Range: -1 to 127
  • Increment: 1

Cruise throttle during landing approach (percentage) (TECS_LAND_THR)

Use this parameter instead of LAND_ASPD if your platform does not have an airspeed sensor. It is the cruise throttle during landing approach. If it is negative if TECS_LAND_ASPD is in use then this value is not used during landing.

  • Range: -1 to 100
  • Increment: 0.1

Weighting applied to speed control during landing. (TECS_LAND_SPDWGT)

Note: This parameter is for advanced users

Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up — sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point). A value closer to 0 results in the plane ignoring speed error — use caution when lowering the value below 1 — ignoring speed could result in a stall.

  • Range: 0.0 to 2.0
  • Increment: 0.1

Maximum pitch in auto flight (TECS_PITCH_MAX)

Note: This parameter is for advanced users

This controls maximum pitch up in automatic throttle modes. If this is set to zero then LIM_PITCH_MAX is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode.

  • Range: 0 45
  • Increment: 1

Minimum pitch in auto flight (TECS_PITCH_MIN)

Note: This parameter is for advanced users

This controls minimum pitch in automatic throttle modes. If this is set to zero then LIM_PITCH_MIN is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode. Note that TECS_PITCH_MIN should be a negative number.

  • Range: -45 0
  • Increment: 1

Sink rate for final landing stage (TECS_LAND_SINK)

Note: This parameter is for advanced users

The sink rate in meters/second for the final stage of landing.

  • Range: 0.0 to 2.0
  • Increment: 0.1

MNT_ Parameters

Mount operation mode (MNT_MODE)

Camera or antenna mount operation mode

    Value Meaning
    0 retract
    1 neutral
    2 MavLink_targeting
    3 RC_targeting
    4 GPS_point

Mount roll angle when in retracted position (MNT_RETRACT_X)

Mount roll angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle when in retracted position (MNT_RETRACT_Y)

Mount tilt/pitch angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount yaw/pan angle when in retracted position (MNT_RETRACT_Z)

Mount yaw/pan angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount roll angle when in neutral position (MNT_NEUTRAL_X)

Mount roll angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle when in neutral position (MNT_NEUTRAL_Y)

Mount tilt/pitch angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount pan/yaw angle when in neutral position (MNT_NEUTRAL_Z)

Mount pan/yaw angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount roll angle command from groundstation (MNT_CONTROL_X)

Mount roll angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle command from groundstation (MNT_CONTROL_Y)

Mount tilt/pitch angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount pan/yaw angle command from groundstation (MNT_CONTROL_Z)

Mount pan/yaw angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Stabilize mount’s roll angle (MNT_STAB_ROLL)

enable roll stabilisation relative to Earth

    Value Meaning
    0 Disabled
    1 Enabled

Stabilize mount’s pitch/tilt angle (MNT_STAB_TILT)

enable tilt/pitch stabilisation relative to Earth

    Value Meaning
    0 Disabled
    1 Enabled

Stabilize mount pan/yaw angle (MNT_STAB_PAN)

enable pan/yaw stabilisation relative to Earth

    Value Meaning
    0 Disabled
    1 Enabled

roll RC input channel (MNT_RC_IN_ROLL)

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

    Value Meaning
    0 Disabled
    5 RC5
    6 RC6
    7 RC7
    8 RC8

Minimum roll angle (MNT_ANGMIN_ROL)

Minimum physical roll angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum roll angle (MNT_ANGMAX_ROL)

Maximum physical roll angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

tilt (pitch) RC input channel (MNT_RC_IN_TILT)

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

    Value Meaning
    0 Disabled
    5 RC5
    6 RC6
    7 RC7
    8 RC8

Minimum tilt angle (MNT_ANGMIN_TIL)

Minimum physical tilt (pitch) angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum tilt angle (MNT_ANGMAX_TIL)

Maximum physical tilt (pitch) angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

pan (yaw) RC input channel (MNT_RC_IN_PAN)

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

    Value Meaning
    0 Disabled
    5 RC5
    6 RC6
    7 RC7
    8 RC8

Minimum pan angle (MNT_ANGMIN_PAN)

Minimum physical pan (yaw) angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum pan angle (MNT_ANGMAX_PAN)

Maximum physical pan (yaw) angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

mount joystick speed (MNT_JSTICK_SPD)

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

  • Range: 0 100
  • Increment: 1

MNT2_ Parameters

Mount operation mode (MNT2_MODE)

Camera or antenna mount operation mode

    Value Meaning
    0 retract
    1 neutral
    2 MavLink_targeting
    3 RC_targeting
    4 GPS_point

Mount roll angle when in retracted position (MNT2_RETRACT_X)

Mount roll angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle when in retracted position (MNT2_RETRACT_Y)

Mount tilt/pitch angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount yaw/pan angle when in retracted position (MNT2_RETRACT_Z)

Mount yaw/pan angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount roll angle when in neutral position (MNT2_NEUTRAL_X)

Mount roll angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle when in neutral position (MNT2_NEUTRAL_Y)

Mount tilt/pitch angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount pan/yaw angle when in neutral position (MNT2_NEUTRAL_Z)

Mount pan/yaw angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount roll angle command from groundstation (MNT2_CONTROL_X)

Mount roll angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle command from groundstation (MNT2_CONTROL_Y)

Mount tilt/pitch angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount pan/yaw angle command from groundstation (MNT2_CONTROL_Z)

Mount pan/yaw angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Stabilize mount’s roll angle (MNT2_STAB_ROLL)

enable roll stabilisation relative to Earth

    Value Meaning
    0 Disabled
    1 Enabled

Stabilize mount’s pitch/tilt angle (MNT2_STAB_TILT)

enable tilt/pitch stabilisation relative to Earth

    Value Meaning
    0 Disabled
    1 Enabled

Stabilize mount pan/yaw angle (MNT2_STAB_PAN)

enable pan/yaw stabilisation relative to Earth

    Value Meaning
    0 Disabled
    1 Enabled

roll RC input channel (MNT2_RC_IN_ROLL)

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

    Value Meaning
    0 Disabled
    5 RC5
    6 RC6
    7 RC7
    8 RC8

Minimum roll angle (MNT2_ANGMIN_ROL)

Minimum physical roll angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum roll angle (MNT2_ANGMAX_ROL)

Maximum physical roll angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

tilt (pitch) RC input channel (MNT2_RC_IN_TILT)

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

    Value Meaning
    0 Disabled
    5 RC5
    6 RC6
    7 RC7
    8 RC8

Minimum tilt angle (MNT2_ANGMIN_TIL)

Minimum physical tilt (pitch) angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum tilt angle (MNT2_ANGMAX_TIL)

Maximum physical tilt (pitch) angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

pan (yaw) RC input channel (MNT2_RC_IN_PAN)

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

    Value Meaning
    0 Disabled
    5 RC5
    6 RC6
    7 RC7
    8 RC8

Minimum pan angle (MNT2_ANGMIN_PAN)

Minimum physical pan (yaw) angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum pan angle (MNT2_ANGMAX_PAN)

Maximum physical pan (yaw) angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

mount joystick speed (MNT2_JSTICK_SPD)

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

  • Range: 0 100
  • Increment: 1

BATT_ Parameters

Battery monitoring (BATT_MONITOR)

Controls enabling monitoring of the battery’s voltage and current

    Value Meaning
    0 Disabled
    3 Voltage Only
    4 Voltage and Current

Battery Voltage sensing pin (BATT_VOLT_PIN)

Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.

    Value Meaning
    -1 Disabled
    0 A0
    1 A1
    2 Pixhawk
    13 A13
    100 PX4

Battery Current sensing pin (BATT_CURR_PIN)

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.

    Value Meaning
    -1 Disabled
    1 A1
    2 A2
    3 Pixhawk
    12 A12
    101 PX4

Voltage Multiplier (BATT_VOLT_MULT)

Note: This parameter is for advanced users

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

Amps per volt (BATT_AMP_PERVOLT)

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

  • Units: A/V

AMP offset (BATT_AMP_OFFSET)

Voltage offset at zero current on current sensor

  • Units: Volts

Battery capacity (BATT_CAPACITY)

Capacity of the battery in mAh when full

  • Increment: 50
  • Units: mAh

2nd Battery Voltage sensing pin (BATT_VOLT2_PIN)

This sets the pin for sensing the voltage on a 2nd battery. Set to -1 to disable sensing of a second battery

2nd battery voltage multiplier (BATT_VOLT2_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the VOLT2_PIN to the actual battery’s voltage (pin_voltage * VOLT_MULT).

BRD_ Parameters

PWM Count (BRD_PWM_COUNT)

Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.

    Value Meaning
    0 No PWMs
    2 Two PWMs
    4 Four PWMs
    6 Six PWMs

Serial 1 flow control (BRD_SER1_RTSCTS)

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

    Value Meaning
    0 Disabled
    1 Enabled
    2 Auto

Serial 2 flow control (BRD_SER2_RTSCTS)

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

    Value Meaning
    0 Disabled
    1 Enabled
    2 Auto

Enable use of safety arming switch (BRD_SAFETYENABLE)

Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.

    Value Meaning
    0 Disabled
    1 Enabled

AFS_ Parameters

Manual Pin (AFS_MAN_PIN)

Note: This parameter is for advanced users

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

Heartbeat Pin (AFS_HB_PIN)

Note: This parameter is for advanced users

This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.

Comms Waypoint (AFS_WP_COMMS)

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

GPS Loss Waypoint (AFS_GPS_LOSS)

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

Force Terminate (AFS_TERMINATE)

Note: This parameter is for advanced users

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

Terminate action (AFS_TERM_ACTION)

Note: This parameter is for advanced users

This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle

Terminate Pin (AFS_TERM_PIN)

Note: This parameter is for advanced users

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

AMSL limit (AFS_AMSL_LIMIT)

Note: This parameter is for advanced users

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

  • Units: meters

Error margin for GPS based AMSL limit (AFS_AMSL_ERR_GPS)

Note: This parameter is for advanced users

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

  • Units: meters

QNH pressure (AFS_QNH_PRESSURE)

Note: This parameter is for advanced users

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

  • Units: millibar

Enable Advanced Failsafe (AFS_ENABLE)

Note: This parameter is for advanced users

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

RC failure time (AFS_RC_FAIL_MS)

Note: This parameter is for advanced users

This is the time in milliseconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be 1500. Use 0 to disable.

Maximum number of GPS loss events (AFS_MAX_GPS_LOSS)

Note: This parameter is for advanced users

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

Maximum number of comms loss events (AFS_MAX_COM_LOSS)

Note: This parameter is for advanced users

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

EKF_ Parameters

GPS horizontal velocity measurement noise (m/s) (EKF_VELNE_NOISE)

This is the RMS value of noise in the North and East GPS velocity measurements. Increasing it reduces the weighting on these measurements.

  • Range: 0.05 – 5.0
  • Increment: 0.05

GPS vertical velocity measurement noise (m/s) (EKF_VELD_NOISE)

This is the RMS value of noise in the vertical GPS velocity measurement. Increasing it reduces the weighting on this measurement.

  • Range: 0.05 – 5.0
  • Increment: 0.05

GPS horizontal position measurement noise (m) (EKF_POSNE_NOISE)

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

  • Range: 0.1 – 10.0
  • Increment: 0.1

Altitude measurement noise (m) (EKF_ALT_NOISE)

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

  • Range: 0.1 – 10.0
  • Increment: 0.1

Magnetometer measurement noise (Gauss) (EKF_MAG_NOISE)

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

  • Range: 0.01 – 0.5
  • Increment: 0.01

Equivalent airspeed measurement noise (m/s) (EKF_EAS_NOISE)

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

  • Range: 0.5 – 5.0
  • Increment: 0.1

Wind velocity process noise (m/s^2) (EKF_WIND_PNOISE)

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

  • Range: 0.01 – 1.0
  • Increment: 0.1

Height rate to wind procss noise scaler (EKF_WIND_PSCALE)

Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser.

  • Range: 0.0 – 1.0
  • Increment: 0.1

Rate gyro noise (rad/s) (EKF_GYRO_PNOISE)

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

  • Range: 0.001 – 0.05
  • Increment: 0.001

Accelerometer noise (m/s^2) (EKF_ACC_PNOISE)

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

  • Range: 0.05 – 1.0 AP_Float _gpsNEVelVarAccScale; // scale factor applied to NE velocity measurement variance due to Vdot
  • Increment: 0.01

Rate gyro bias process noise (rad/s) (EKF_GBIAS_PNOISE)

This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.

  • Range: 0.0000001 – 0.00001

Accelerometer bias process noise (m/s^2) (EKF_ABIAS_PNOISE)

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

  • Range: 0.00001 – 0.001

Earth magnetic field process noise (gauss/s) (EKF_MAGE_PNOISE)

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

  • Range: 0.0001 – 0.01

Body magnetic field process noise (gauss/s) (EKF_MAGB_PNOISE)

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

  • Range: 0.0001 – 0.01

GPS velocity measurement delay (msec) (EKF_VEL_DELAY)

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

  • Range: 0 – 500
  • Increment: 10

GPS position measurement delay (msec) (EKF_POS_DELAY)

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

  • Range: 0 – 500
  • Increment: 10

GPS velocity mode control (EKF_GPS_TYPE)

This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity

  • Range: 0 – 3
  • Increment: 1

GPS velocity measurement gate size (EKF_VEL_GATE)

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

  • Range: 1 – 100
  • Increment: 1

GPS position measurement gate size (EKF_POS_GATE)

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

  • Range: 1 – 100
  • Increment: 1

Height measurement gate size (EKF_HGT_GATE)

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

  • Range: 1 – 100
  • Increment: 1

Magnetometer measurement gate size (EKF_MAG_GATE)

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

  • Range: 1 – 100
  • Increment: 1

Airspeed measurement gate size (EKF_EAS_GATE)

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

  • Range: 1 – 100
  • Increment: 1

Magnetometer calibration mode (EKF_MAG_CAL)

EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.

    Value Meaning
    0 Speed and Height
    1 Acceleration
    2 Never
  • Increment: 1

GPS glitch accel gate size (cm/s^2) (EKF_GLITCH_ACCEL)

This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position.

  • Range: 100 – 500
  • Increment: 50

GPS glitch radius gate size (m) (EKF_GLITCH_RAD)

This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement.

  • Range: 10 – 50
  • Increment: 5

MIS_ Parameters

Total mission commands (MIS_TOTAL)

Note: This parameter is for advanced users

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

  • Range: 0 32766
  • Increment: 1

Mission Restart when entering Auto mode (MIS_RESTART)

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

    Value Meaning
    0 Resume Mission
    1 Restart Mission

RALLY_ Parameters

Rally Total (RALLY_TOTAL)

Note: This parameter is for advanced users

Number of rally points currently loaded

Rally Limit (RALLY_LIMIT_KM)

Note: This parameter is for advanced users

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

  • Increment: 0.1
  • Units: kilometers

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