.. Dynamically generated list of documented parameters .. This page was generated using Tools\/autotest\/param\_metadata\/param\_parse\.py .. DO NOT EDIT .. _parameters: Complete Parameter List ======================= This is a complete list of the parameters which can be set \(e\.g\. via the MAVLink protocol\) to control vehicle behaviour\. They are stored in persistent storage on the vehicle\. 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\. .. _parameters_Rover: Rover Parameters ---------------- .. _FORMAT_VERSION: FORMAT\_VERSION: Eeprom format version number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This value is incremented when changes are made to the eeprom format .. _LOG_BITMASK: LOG\_BITMASK: Log bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmap of what log types to enable in on\-board logger\. This value is made up of the sum of each of the log types you want to be saved\. On boards supporting microSD cards or other large block\-storage devices it is usually best just to enable all basic log types by setting this to 65535\. +-----+---------------------+ | Bit | Meaning | +=====+=====================+ | 0 | Fast Attitude | +-----+---------------------+ | 1 | Medium Attitude | +-----+---------------------+ | 2 | GPS | +-----+---------------------+ | 3 | System Performance | +-----+---------------------+ | 4 | Throttle | +-----+---------------------+ | 5 | Navigation Tuning | +-----+---------------------+ | 7 | IMU | +-----+---------------------+ | 8 | Mission Commands | +-----+---------------------+ | 9 | Battery Monitor | +-----+---------------------+ | 10 | Rangefinder | +-----+---------------------+ | 11 | Compass | +-----+---------------------+ | 12 | Camera | +-----+---------------------+ | 13 | Steering | +-----+---------------------+ | 14 | RC Input-Output | +-----+---------------------+ | 19 | Raw IMU | +-----+---------------------+ | 20 | Video Stabilization | +-----+---------------------+ | 21 | Optical Flow | +-----+---------------------+ .. _INITIAL_MODE: INITIAL\_MODE: Initial driving mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This selects the mode to start in on boot\. This is useful for when you want to start in AUTO mode on boot without a receiver\. Usually used in combination with when AUTO\_TRIGGER\_PIN or AUTO\_KICKSTART\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Manual | +-------+----------+ | 1 | Acro | +-------+----------+ | 3 | Steering | +-------+----------+ | 4 | Hold | +-------+----------+ | 5 | Loiter | +-------+----------+ | 6 | Follow | +-------+----------+ | 7 | Simple | +-------+----------+ | 8 | Dock | +-------+----------+ | 9 | Circle | +-------+----------+ | 10 | Auto | +-------+----------+ | 11 | RTL | +-------+----------+ | 12 | SmartRTL | +-------+----------+ | 15 | Guided | +-------+----------+ .. _GCS_PID_MASK: GCS\_PID\_MASK: GCS PID tuning mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bitmask of PIDs to send MAVLink PID\_TUNING messages for +-----+----------------+ | Bit | Meaning | +=====+================+ | 0 | Steering | +-----+----------------+ | 1 | Throttle | +-----+----------------+ | 2 | Pitch | +-----+----------------+ | 3 | Left Wheel | +-----+----------------+ | 4 | Right Wheel | +-----+----------------+ | 5 | Sailboat Heel | +-----+----------------+ | 6 | Velocity North | +-----+----------------+ | 7 | Velocity East | +-----+----------------+ .. _AUTO_TRIGGER_PIN: AUTO\_TRIGGER\_PIN: Auto mode trigger pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ pin number to use to enable the throttle in auto mode\. If set to \-1 then don\'t use a trigger\, otherwise this is a pin number which if held low in auto mode will enable the motor to run\. If the switch is released while in AUTO then the motor will stop again\. This can be used in combination with INITIAL\_MODE to give a \'press button to start\' rover with no receiver\. +-------+-----------------+ | Value | Meaning | +=======+=================+ | -1 | Disabled | +-------+-----------------+ | 0 | APM TriggerPin0 | +-------+-----------------+ | 1 | APM TriggerPin1 | +-------+-----------------+ | 2 | APM TriggerPin2 | +-------+-----------------+ | 3 | APM TriggerPin3 | +-------+-----------------+ | 4 | APM TriggerPin4 | +-------+-----------------+ | 5 | APM TriggerPin5 | +-------+-----------------+ | 6 | APM TriggerPin6 | +-------+-----------------+ | 7 | APM TriggerPin7 | +-------+-----------------+ | 8 | APM TriggerPin8 | +-------+-----------------+ | 50 | AUX1 | +-------+-----------------+ | 51 | AUX2 | +-------+-----------------+ | 52 | AUX3 | +-------+-----------------+ | 53 | AUX4 | +-------+-----------------+ | 54 | AUX5 | +-------+-----------------+ | 55 | AUX6 | +-------+-----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _AUTO_KICKSTART: AUTO\_KICKSTART: Auto mode trigger kickstart acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ X acceleration in meters\/second\/second to use to trigger the motor start in auto mode\. If set to zero then auto throttle starts immediately when the mode switch happens\, otherwise the rover waits for the X acceleration to go above this value before it will start the motor +-----------+---------+--------------------------+ | Increment | Range | Units | +===========+=========+==========================+ | 0.1 | 0 to 20 | meters per square second | +-----------+---------+--------------------------+ .. _CRUISE_SPEED: CRUISE\_SPEED: Target cruise speed in auto modes ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The target speed in auto missions\. +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 0.1 | 0 to 100 | meters per second | +-----------+----------+-------------------+ .. _CRUISE_THROTTLE: CRUISE\_THROTTLE: Base throttle percentage in auto ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The base throttle percentage to use in auto mode\. The CRUISE\_SPEED parameter controls the target speed\, but the rover starts with the CRUISE\_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed\. It then adjusts the throttle based on how fast the rover is actually going\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _PILOT_STEER_TYPE: PILOT\_STEER\_TYPE: Pilot input steering type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pilot RC input interpretation +-------+-------------------------------------+ | Value | Meaning | +=======+=====================================+ | 0 | Default | +-------+-------------------------------------+ | 1 | Two Paddles Input | +-------+-------------------------------------+ | 2 | Direction reversed when backing up | +-------+-------------------------------------+ | 3 | Direction unchanged when backing up | +-------+-------------------------------------+ .. _FS_ACTION: FS\_ACTION: Failsafe Action ~~~~~~~~~~~~~~~~~~~~~~~~~~~ What to do on a failsafe event +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Nothing | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL or RTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _FS_TIMEOUT: FS\_TIMEOUT: Failsafe timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The time in seconds that a failsafe condition must persist before the failsafe action is triggered +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 0.5 | 1 to 100 | seconds | +-----------+----------+---------+ .. _FS_THR_ENABLE: FS\_THR\_ENABLE: Throttle Failsafe Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value\. This can be used to detect the RC transmitter going out of range\. Failsafe will be triggered when the throttle channel reaches the FS\_THR\_VALUE\, or goes below it\, for FS\_TIMEOUT seconds\. +-------+---------------------------------------+ | Value | Meaning | +=======+=======================================+ | 0 | Disabled | +-------+---------------------------------------+ | 1 | Enabled | +-------+---------------------------------------+ | 2 | Enabled Continue with Mission in Auto | +-------+---------------------------------------+ .. _FS_THR_VALUE: FS\_THR\_VALUE: Throttle Failsafe Value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The PWM level on the throttle channel at or below which throttle failsafe triggers\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 1 | 910 to 1100 | +-----------+-------------+ .. _FS_GCS_ENABLE: FS\_GCS\_ENABLE: GCS failsafe enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable ground control station telemetry failsafe\. When enabled the Rover will execute the FS\_ACTION when it fails to receive MAVLink heartbeat packets for FS\_TIMEOUT seconds\. +-------+---------------------------------------+ | Value | Meaning | +=======+=======================================+ | 0 | Disabled | +-------+---------------------------------------+ | 1 | Enabled | +-------+---------------------------------------+ | 2 | Enabled Continue with Mission in Auto | +-------+---------------------------------------+ .. _FS_CRASH_CHECK: FS\_CRASH\_CHECK: Crash check action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What to do on a crash event\. When enabled the rover will go to hold if a crash is detected\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Disabled | +-------+---------------+ | 1 | Hold | +-------+---------------+ | 2 | HoldAndDisarm | +-------+---------------+ .. _FS_EKF_ACTION: FS\_EKF\_ACTION: EKF Failsafe Action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls the action that will be taken when an EKF failsafe is invoked +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Disabled | +-------+------------+ | 1 | Hold | +-------+------------+ | 2 | ReportOnly | +-------+------------+ .. _FS_EKF_THRESH: FS\_EKF\_THRESH: EKF failsafe variance threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows setting the maximum acceptable compass and velocity variance +-------+---------+ | Value | Meaning | +=======+=========+ | 0.6 | Strict | +-------+---------+ | 0.8 | Default | +-------+---------+ | 1.0 | Relaxed | +-------+---------+ .. _MODE_CH: MODE\_CH: Mode channel ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC Channel to use for driving mode control .. _MODE1: MODE1: Mode1 ~~~~~~~~~~~~ Driving mode for switch position 1 \(910 to 1230 and above 2049\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Manual | +-------+----------+ | 1 | Acro | +-------+----------+ | 3 | Steering | +-------+----------+ | 4 | Hold | +-------+----------+ | 5 | Loiter | +-------+----------+ | 6 | Follow | +-------+----------+ | 7 | Simple | +-------+----------+ | 8 | Dock | +-------+----------+ | 9 | Circle | +-------+----------+ | 10 | Auto | +-------+----------+ | 11 | RTL | +-------+----------+ | 12 | SmartRTL | +-------+----------+ | 15 | Guided | +-------+----------+ .. _MODE2: MODE2: Mode2 ~~~~~~~~~~~~ Driving mode for switch position 2 \(1231 to 1360\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Manual | +-------+----------+ | 1 | Acro | +-------+----------+ | 3 | Steering | +-------+----------+ | 4 | Hold | +-------+----------+ | 5 | Loiter | +-------+----------+ | 6 | Follow | +-------+----------+ | 7 | Simple | +-------+----------+ | 8 | Dock | +-------+----------+ | 9 | Circle | +-------+----------+ | 10 | Auto | +-------+----------+ | 11 | RTL | +-------+----------+ | 12 | SmartRTL | +-------+----------+ | 15 | Guided | +-------+----------+ .. _MODE3: MODE3: Mode3 ~~~~~~~~~~~~ Driving mode for switch position 3 \(1361 to 1490\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Manual | +-------+----------+ | 1 | Acro | +-------+----------+ | 3 | Steering | +-------+----------+ | 4 | Hold | +-------+----------+ | 5 | Loiter | +-------+----------+ | 6 | Follow | +-------+----------+ | 7 | Simple | +-------+----------+ | 8 | Dock | +-------+----------+ | 9 | Circle | +-------+----------+ | 10 | Auto | +-------+----------+ | 11 | RTL | +-------+----------+ | 12 | SmartRTL | +-------+----------+ | 15 | Guided | +-------+----------+ .. _MODE4: MODE4: Mode4 ~~~~~~~~~~~~ Driving mode for switch position 4 \(1491 to 1620\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Manual | +-------+----------+ | 1 | Acro | +-------+----------+ | 3 | Steering | +-------+----------+ | 4 | Hold | +-------+----------+ | 5 | Loiter | +-------+----------+ | 6 | Follow | +-------+----------+ | 7 | Simple | +-------+----------+ | 8 | Dock | +-------+----------+ | 9 | Circle | +-------+----------+ | 10 | Auto | +-------+----------+ | 11 | RTL | +-------+----------+ | 12 | SmartRTL | +-------+----------+ | 15 | Guided | +-------+----------+ .. _MODE5: MODE5: Mode5 ~~~~~~~~~~~~ Driving mode for switch position 5 \(1621 to 1749\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Manual | +-------+----------+ | 1 | Acro | +-------+----------+ | 3 | Steering | +-------+----------+ | 4 | Hold | +-------+----------+ | 5 | Loiter | +-------+----------+ | 6 | Follow | +-------+----------+ | 7 | Simple | +-------+----------+ | 8 | Dock | +-------+----------+ | 9 | Circle | +-------+----------+ | 10 | Auto | +-------+----------+ | 11 | RTL | +-------+----------+ | 12 | SmartRTL | +-------+----------+ | 15 | Guided | +-------+----------+ .. _MODE6: MODE6: Mode6 ~~~~~~~~~~~~ Driving mode for switch position 6 \(1750 to 2049\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Manual | +-------+----------+ | 1 | Acro | +-------+----------+ | 3 | Steering | +-------+----------+ | 4 | Hold | +-------+----------+ | 5 | Loiter | +-------+----------+ | 6 | Follow | +-------+----------+ | 7 | Simple | +-------+----------+ | 8 | Dock | +-------+----------+ | 9 | Circle | +-------+----------+ | 10 | Auto | +-------+----------+ | 11 | RTL | +-------+----------+ | 12 | SmartRTL | +-------+----------+ | 15 | Guided | +-------+----------+ .. _TURN_RADIUS: TURN\_RADIUS: Turn radius of vehicle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Turn radius of vehicle in meters while at low speeds\. Lower values produce tighter turns in steering mode +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.1 | 0 to 10 | meters | +-----------+---------+--------+ .. _ACRO_TURN_RATE: ACRO\_TURN\_RATE: Acro mode turn rate maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acro mode turn rate maximum +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 360 | degrees per second | +-----------+----------+--------------------+ .. _RTL_SPEED: RTL\_SPEED: Return\-to\-Launch speed default ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Return\-to\-Launch speed default\. If zero use WP\_SPEED or CRUISE\_SPEED\. +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 0.1 | 0 to 100 | meters per second | +-----------+----------+-------------------+ .. _FRAME_CLASS: FRAME\_CLASS: Frame Class ~~~~~~~~~~~~~~~~~~~~~~~~~ Frame Class +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Undefined | +-------+------------+ | 1 | Rover | +-------+------------+ | 2 | Boat | +-------+------------+ | 3 | BalanceBot | +-------+------------+ .. _BAL_PITCH_MAX: BAL\_PITCH\_MAX: BalanceBot Maximum Pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch angle in degrees at 100\% throttle +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.1 | 0 to 15 | degrees | +-----------+---------+---------+ .. _CRASH_ANGLE: CRASH\_ANGLE: Crash Angle ~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch\/Roll angle limit in degrees for crash check\. Zero disables check +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 60 | degrees | +-----------+---------+---------+ .. _FRAME_TYPE: FRAME\_TYPE: Frame Type ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Frame Type +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Default | +-------+--------------+ | 1 | Omni3 | +-------+--------------+ | 2 | OmniX | +-------+--------------+ | 3 | OmniPlus | +-------+--------------+ | 4 | Omni3Mecanum | +-------+--------------+ .. _LOIT_TYPE: LOIT\_TYPE: Loiter type ~~~~~~~~~~~~~~~~~~~~~~~ Loiter behaviour when moving to the target point +-------+----------------------------------------+ | Value | Meaning | +=======+========================================+ | 0 | Forward or reverse to target point | +-------+----------------------------------------+ | 1 | Always face bow towards target point | +-------+----------------------------------------+ | 2 | Always face stern towards target point | +-------+----------------------------------------+ .. _SIMPLE_TYPE: SIMPLE\_TYPE: Simple\_Type ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Simple mode types +-------+--------------------+ | Value | Meaning | +=======+====================+ | 0 | InitialHeading | +-------+--------------------+ | 1 | CardinalDirections | +-------+--------------------+ .. _LOIT_RADIUS: LOIT\_RADIUS: Loiter radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle will drift when within this distance of the target position +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 1 | 0 to 20 | meters | +-----------+---------+--------+ .. _MIS_DONE_BEHAVE: MIS\_DONE\_BEHAVE: Mission done behave ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Behaviour after mission completes +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | Hold in Auto Mode | +-------+---------------------+ | 1 | Loiter in Auto Mode | +-------+---------------------+ | 2 | Acro Mode | +-------+---------------------+ | 3 | Manual Mode | +-------+---------------------+ .. _BAL_PITCH_TRIM: BAL\_PITCH\_TRIM: Balance Bot pitch trim angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Balance Bot pitch trim for balancing\. This offsets the tilt of the center of mass\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.1 | -2 to 2 | degrees | +-----------+---------+---------+ .. _STICK_MIXING: STICK\_MIXING: Stick Mixing ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When enabled\, this adds steering user stick input in auto modes\, allowing the user to have some degree of control without changing modes\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SPEED_MAX: SPEED\_MAX: Speed maximum ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum speed vehicle can obtain at full throttle\. If 0\, it will be estimated based on CRUISE\_SPEED and CRUISE\_THROTTLE\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 0.1 | 0 to 30 | meters per second | +-----------+---------+-------------------+ .. _LOIT_SPEED_GAIN: LOIT\_SPEED\_GAIN: Loiter speed gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Determines how aggressively LOITER tries to correct for drift from loiter point\. Higher is faster but default should be acceptable\. +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 5 | +-----------+--------+ .. _FS_OPTIONS: FS\_OPTIONS: Failsafe Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask to enable failsafe options +-----+-------------------------------+ | Bit | Meaning | +=====+===============================+ | 0 | Failsafe enabled in Hold mode | +-----+-------------------------------+ .. _GUID_OPTIONS: GUID\_OPTIONS: Guided mode options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Options that can be applied to change guided mode behaviour +-----+-----------------------------+ | Bit | Meaning | +=====+=============================+ | 6 | SCurves used for navigation | +-----+-----------------------------+ .. _MANUAL_OPTIONS: MANUAL\_OPTIONS: Manual mode options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Manual mode specific options +-----+-------------------------------+ | Bit | Meaning | +=====+===============================+ | 0 | Enable steering speed scaling | +-----+-------------------------------+ .. _MANUAL_STR_EXPO: MANUAL\_STR\_EXPO: Manual Steering Expo ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Manual steering expo to allow faster steering when stick at edges +-------+-----------+ | Value | Meaning | +=======+===========+ | 0 | Disabled | +-------+-----------+ | 0.1 | Very Low | +-------+-----------+ | 0.2 | Low | +-------+-----------+ | 0.3 | Medium | +-------+-----------+ | 0.4 | High | +-------+-----------+ | 0.5 | Very High | +-------+-----------+ +--------------+ | Range | +==============+ | -0.5 to 0.95 | +--------------+ .. _FS_GCS_TIMEOUT: FS\_GCS\_TIMEOUT: GCS failsafe timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Timeout before triggering the GCS failsafe +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 2 to 120 | seconds | +-----------+----------+---------+ .. _CRASH_THR_MIN: CRASH\_THR\_MIN: Crash throttle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Throttle above this threshold accompanied by a low speed condition triggers crash detection\. Zero disables velocity and turn rate checks\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _CRASH_VEL_MIN: CRASH\_VEL\_MIN: Crash velocity minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity below this threshold with accompanying throttle demand triggers crash detection\. Zero disables velocity check\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 0.1 | 0 to 60 | meters per second | +-----------+---------+-------------------+ .. _CRASH_TRAT_MIN: CRASH\_TRAT\_MIN: Crash turn rate minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Turn rate below this threshold with accompanying throttle demand triggers crash detection\. Zero disables turn rate check\. +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 360 | degrees per second | +-----------+----------+--------------------+ .. _CRASH_TIMEOUT: CRASH\_TIMEOUT: Crash timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Crash conditions persisting for this duration trigger crash detection\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.5 | 0 to 60 | seconds | +-----------+---------+---------+ .. _GUID_TIMEOUT: GUID\_TIMEOUT: Guided mode timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Guided mode timeout after which vehicle will stop if no updates are received from caller\. Only applicable during velocity\, throttle\, heading or turn rate control +----------+---------+ | Range | Units | +==========+=========+ | 0.1 to 5 | seconds | +----------+---------+ .. _parameters_VEHICLE: VEHICLE Parameters ------------------ .. _FLTMODE_GCSBLOCK: FLTMODE\_GCSBLOCK: Flight mode block from GCS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask of flight modes to disable for GCS selection\. Mode can still be accessed via RC or failsafe\. +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Manual | +-----+----------+ | 1 | Acro | +-----+----------+ | 2 | Steering | +-----+----------+ | 3 | Loiter | +-----+----------+ | 4 | Follow | +-----+----------+ | 5 | Simple | +-----+----------+ | 6 | Circle | +-----+----------+ | 7 | Auto | +-----+----------+ | 8 | RTL | +-----+----------+ | 9 | SmartRTL | +-----+----------+ | 10 | Guided | +-----+----------+ | 11 | Dock | +-----+----------+ .. _parameters_Lua Script: Lua Script Parameters --------------------- .. _VID1_CAMMODEL: VID1\_CAMMODEL: Camera1 Video Stream Camera Model ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream camera model +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | Unknown | +-------+------------------------+ | 1 | Siyi A8 | +-------+------------------------+ | 2 | Siyi ZR10 | +-------+------------------------+ | 3 | Siyi ZR30 | +-------+------------------------+ | 4 | Siyi ZT30 Zoom | +-------+------------------------+ | 5 | Siyi ZT30 Wide | +-------+------------------------+ | 6 | Siyi ZT30 IR | +-------+------------------------+ | 7 | Siyi ZT6 RGB | +-------+------------------------+ | 8 | Siyi ZT6 IR | +-------+------------------------+ | 9 | Herelink WifiAP | +-------+------------------------+ | 10 | Herelink USB-tethering | +-------+------------------------+ | 11 | Topotek 1080p | +-------+------------------------+ | 12 | Topotek 480p | +-------+------------------------+ | 13 | Viewpro | +-------+------------------------+ .. _VID1_ID: VID1\_ID: Camera1 Video Stream Id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream id +---------+ | Range | +=========+ | 0 to 50 | +---------+ .. _VID1_TYPE: VID1\_TYPE: Camera1 Video Stream Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream type +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | RTSP | +-------+----------+ | 1 | RTPUDP | +-------+----------+ | 2 | TCP_MPEG | +-------+----------+ | 3 | MPEG_TS | +-------+----------+ .. _VID1_FLAG: VID1\_FLAG: Camera1 Video Stream Flags ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream flags +-----+-----------------------+ | Bit | Meaning | +=====+=======================+ | 0 | Running | +-----+-----------------------+ | 1 | Thermal | +-----+-----------------------+ | 2 | Thermal Range Enabled | +-----+-----------------------+ .. _VID1_FRAME_RATE: VID1\_FRAME\_RATE: Camera1 Video Stream Frame Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream frame rate +---------+ | Range | +=========+ | 0 to 50 | +---------+ .. _VID1_HRES: VID1\_HRES: Camera1 Video Stream Horizontal Resolution ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream horizontal resolution +-----------+ | Range | +===========+ | 0 to 4096 | +-----------+ .. _VID1_VRES: VID1\_VRES: Camera1 Video Stream Vertical Resolution ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream vertical resolution +-----------+ | Range | +===========+ | 0 to 4096 | +-----------+ .. _VID1_BITRATE: VID1\_BITRATE: Camera1 Video Stream Bitrate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream bitrate +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _VID1_HFOV: VID1\_HFOV: Camera1 Video Stream Horizontal FOV ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream horizontal FOV +----------+ | Range | +==========+ | 0 to 360 | +----------+ .. _VID1_ENCODING: VID1\_ENCODING: Camera1 Video Stream Encoding ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream encoding +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Unknown | +-------+---------+ | 1 | H264 | +-------+---------+ | 2 | H265 | +-------+---------+ .. _VID1_IPADDR0: VID1\_IPADDR0: Camera1 Video Stream IP Address 0 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream IP Address first octet +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _VID1_IPADDR1: VID1\_IPADDR1: Camera1 Video Stream IP Address 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream IP Address second octet +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _VID1_IPADDR2: VID1\_IPADDR2: Camera1 Video Stream IP Address 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream IP Address third octet +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _VID1_IPADDR3: VID1\_IPADDR3: Camera1 Video Stream IP Address 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream IP Address fourth octet +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _VID1_IPPORT: VID1\_IPPORT: Camera1 Video Stream IP Address Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video stream IP Address Port +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _BTAG_ENABLE: BTAG\_ENABLE: enable battery info support ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ enable battery info support +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _BTAG_MAX_CYCLES: BTAG\_MAX\_CYCLES: max battery cycles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ max battery cycles for arming +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _BTAG_CUR_CYCLES: BTAG\_CUR\_CYCLES: current battery cycles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* this is the highest value for battery cycles for all connected batteries +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _FOLT_ENABLE: FOLT\_ENABLE: Follow Target Send Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow Target Send Enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _FOLT_MAV_CHAN: FOLT\_MAV\_CHAN: Follow Target Send MAVLink Channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ MAVLink channel to which FOLLOW\_TARGET should be sent +---------+ | Range | +=========+ | 0 to 10 | +---------+ .. _WINCH_RATE_UP: WINCH\_RATE\_UP: WinchControl Rate Up ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum rate when retracting line +------------+ | Range | +============+ | 0.1 to 5.0 | +------------+ .. _WINCH_RATE_DN: WINCH\_RATE\_DN: WinchControl Rate Down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum rate when releasing line +------------+ | Range | +============+ | 0.1 to 5.0 | +------------+ .. _WINCH_RC_FUNC: WINCH\_RC\_FUNC: Winch Rate Control RC function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RCn\_OPTION number to use to control winch rate +-------+------------+ | Value | Meaning | +=======+============+ | 300 | Scripting1 | +-------+------------+ | 301 | Scripting2 | +-------+------------+ | 302 | Scripting3 | +-------+------------+ | 303 | Scripting4 | +-------+------------+ | 304 | Scripting5 | +-------+------------+ | 305 | Scripting6 | +-------+------------+ | 306 | Scripting7 | +-------+------------+ | 307 | Scripting8 | +-------+------------+ .. _PLND_ALT_CUTOFF: PLND\_ALT\_CUTOFF: Precland altitude cutoff ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing +---------+--------+ | Range | Units | +=========+========+ | 0 to 20 | meters | +---------+--------+ .. _DIST_CUTOFF: DIST\_CUTOFF: Precland distance cutoff ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The distance from target beyond which the target is ignored +----------+--------+ | Range | Units | +==========+========+ | 0 to 100 | meters | +----------+--------+ .. _SLUP_ENABLE: SLUP\_ENABLE: Slung Payload enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Slung Payload enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SLUP_VEL_P: SLUP\_VEL\_P: Slung Payload Velocity P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Slung Payload Velocity P gain\, higher values will result in faster movements in sync with payload +----------+ | Range | +==========+ | 0 to 0.8 | +----------+ .. _SLUP_DIST_MAX: SLUP\_DIST\_MAX: Slung Payload horizontal distance max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Oscillation is suppressed when vehicle and payload are no more than this distance horizontally\. Set to 0 to always suppress +---------+ | Range | +=========+ | 0 to 30 | +---------+ .. _SLUP_SYSID: SLUP\_SYSID: Slung Payload mavlink system id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Slung Payload mavlink system id\. 0 to use any\/all system ids +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _SLUP_WP_POS_P: SLUP\_WP\_POS\_P: Slung Payload return to WP position P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ WP position P gain\. higher values will result in vehicle moving more quickly back to the original waypoint +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _SLUP_RESTOFS_TC: SLUP\_RESTOFS\_TC: Slung Payload resting offset estimate filter time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ payload\'s position estimator\'s time constant used to compensate for GPS errors and wind\. Higher values result in smoother estimate but slower response +---------+ | Range | +=========+ | 1 to 20 | +---------+ .. _SLUP_DEBUG: SLUP\_DEBUG: Slung Payload debug output ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Slung payload debug output\, set to 1 to enable debug +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _THR_KILL_FUNC: THR\_KILL\_FUNC: AUX function to kill engine ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ AUX function to kill engine\. This can be activated either with a RCn\_OPTION and a R\/C switch or with a ground station auxilliary function +------------+ | Range | +============+ | 300 to 307 | +------------+ .. _THR_KILL_PWM: THR\_KILL\_PWM: PWM on kill active ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM on kill active +-------------+ | Range | +=============+ | 800 to 2200 | +-------------+ .. _THR_KILL_CHAN: THR\_KILL\_CHAN: output channel to change on throttle kill ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ output channel to change on throttle kill\, a value of zero disables the feature +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _THR_KILL_VAL: THR\_KILL\_VAL: auxilliary value to kill throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ auxilliary value to kill throttle\. Set to 2 to kill the throttle when the auxilliary is high\. Set to 0 to kill when auxilliary is low +--------+ | Range | +========+ | 0 to 2 | +--------+ .. _THR_KILL_DEF: THR\_KILL\_DEF: throttle kill default value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ throttle kill default value\. The default auxilliary function position on boot +--------+ | Range | +========+ | 0 to 2 | +--------+ .. _CGA_RATIO: CGA\_RATIO: CoG adjustment ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The ratio between the front and back motor outputs during steady\-state hover\. Positive when the CoG is in front of the motors midpoint \(front motors work harder\)\. +----------+ | Range | +==========+ | 0.5 to 2 | +----------+ .. _RTUN_ENABLE: RTUN\_ENABLE: Rover Quicktune enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable quicktune system +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _RTUN_AXES: RTUN\_AXES: Rover Quicktune axes ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ axes to tune +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Steering | +-----+----------+ | 1 | Speed | +-----+----------+ .. _RTUN_STR_FFRATIO: RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between measured response and FF gain\. Raise this to get a higher FF gain +----------+ | Range | +==========+ | 0 to 1.0 | +----------+ .. _RTUN_STR_P_RATIO: RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged +----------+ | Range | +==========+ | 0 to 2.0 | +----------+ .. _RTUN_STR_I_RATIO: RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged +----------+ | Range | +==========+ | 0 to 2.0 | +----------+ .. _RTUN_SPD_FFRATIO: RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value +----------+ | Range | +==========+ | 0 to 1.0 | +----------+ .. _RTUN_SPD_P_RATIO: RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged +----------+ | Range | +==========+ | 0 to 2.0 | +----------+ .. _RTUN_SPD_I_RATIO: RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged +----------+ | Range | +==========+ | 0 to 2.0 | +----------+ .. _RTUN_AUTO_FILTER: RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _RTUN_AUTO_SAVE: RTUN\_AUTO\_SAVE: Rover Quicktune auto save ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +---------+ | Units | +=========+ | seconds | +---------+ .. _RTUN_RC_FUNC: RTUN\_RC\_FUNC: Rover Quicktune RC function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RCn\_OPTION number to use to control tuning stop\/start\/save +-------+------------+ | Value | Meaning | +=======+============+ | 300 | Scripting1 | +-------+------------+ | 301 | Scripting2 | +-------+------------+ | 302 | Scripting3 | +-------+------------+ | 303 | Scripting4 | +-------+------------+ | 304 | Scripting5 | +-------+------------+ | 305 | Scripting6 | +-------+------------+ | 306 | Scripting7 | +-------+------------+ | 307 | Scripting8 | +-------+------------+ .. _RTUN_SPEED_MIN: RTUN\_SPEED\_MIN: Rover Quicktune minimum speed for tuning ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The mimimum speed in m\/s required for tuning to start +------------+-------------------+ | Range | Units | +============+===================+ | 0.1 to 0.5 | meters per second | +------------+-------------------+ .. _CAM1_THERM_PAL: CAM1\_THERM\_PAL: Camera1 Thermal Palette ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ thermal image colour palette +-------+-----------------+ | Value | Meaning | +=======+=================+ | -1 | Leave Unchanged | +-------+-----------------+ | 0 | WhiteHot | +-------+-----------------+ | 2 | Sepia | +-------+-----------------+ | 3 | IronBow | +-------+-----------------+ | 4 | Rainbow | +-------+-----------------+ | 5 | Night | +-------+-----------------+ | 6 | Aurora | +-------+-----------------+ | 7 | RedHot | +-------+-----------------+ | 8 | Jungle | +-------+-----------------+ | 9 | Medical | +-------+-----------------+ | 10 | BlackHot | +-------+-----------------+ | 11 | GloryHot | +-------+-----------------+ .. _CAM1_THERM_GAIN: CAM1\_THERM\_GAIN: Camera1 Thermal Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ thermal image temperature range +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | -1 | Leave Unchanged | +-------+-------------------------+ | 0 | LowGain (50C to 550C) | +-------+-------------------------+ | 1 | HighGain (-20C to 150C) | +-------+-------------------------+ .. _CAM1_THERM_RAW: CAM1\_THERM\_RAW: Camera1 Thermal Raw Data ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ save images with raw temperatures +-------+------------------+ | Value | Meaning | +=======+==================+ | -1 | Leave Unchanged | +-------+------------------+ | 0 | Disabled (30fps) | +-------+------------------+ | 1 | Enabled (25 fps) | +-------+------------------+ +--------+ | Units | +========+ | meters | +--------+ .. _ESRC_EXTN_THRESH: ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ExternalNav may be used if innovations are below this threshold +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _ESRC_EXTN_QUAL: ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ExternalNav may be used if quality is above this threshold +----------+---------+ | Range | Units | +==========+=========+ | 0 to 100 | percent | +----------+---------+ .. _ESRC_FLOW_THRESH: ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ OpticalFlow may be used if innovations are below this threshold +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _ESRC_FLOW_QUAL: ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ OpticalFlow may be used if quality is above this threshold +----------+---------+ | Range | Units | +==========+=========+ | 0 to 100 | percent | +----------+---------+ .. _ESRC_RNGFND_MAX: ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ OpticalFlow may be used if rangefinder distance is below this threshold +---------+--------+ | Range | Units | +=========+========+ | 0 to 50 | meters | +---------+--------+ .. _WEB_ENABLE: WEB\_ENABLE: enable web server ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ enable web server +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _WEB_BIND_PORT: WEB\_BIND\_PORT: web server TCP port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ web server TCP port +------------+ | Range | +============+ | 1 to 65535 | +------------+ .. _WEB_DEBUG: WEB\_DEBUG: web server debugging ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* web server debugging +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _WEB_BLOCK_SIZE: WEB\_BLOCK\_SIZE: web server block size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* web server block size for download +------------+ | Range | +============+ | 1 to 65535 | +------------+ .. _WEB_TIMEOUT: WEB\_TIMEOUT: web server timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* timeout for inactive connections +-----------+---------+ | Range | Units | +===========+=========+ | 0.1 to 60 | seconds | +-----------+---------+ .. _WEB_SENDFILE_MIN: WEB\_SENDFILE\_MIN: web server minimum file size for sendfile ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download +---------------+ | Range | +===============+ | 0 to 10000000 | +---------------+ .. _TA_ACT_FN: TA\_ACT\_FN: Activation Function for Terrain Avoidance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Setting an RC channel\'s \_OPTION to this value will use it for Terrain Avoidance enable\/disable +------------+ | Range | +============+ | 300 to 307 | +------------+ .. _TA_PTCH_DWN_MIN: TA\_PTCH\_DWN\_MIN: down distance minimum for Pitching ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If the downward distance is less than this value then start Pitching up to gain altitude\. +--------+ | Units | +========+ | meters | +--------+ .. _TA_PTCH_FWD_MIN: TA\_PTCH\_FWD\_MIN: forward distance minimum for Pitching ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If the farwardward distance is less than this value then start Pitching up to gain altitude\. +--------+ | Units | +========+ | meters | +--------+ .. _TA_QUAD_DWN_MIN: TA\_QUAD\_DWN\_MIN: Downward distance minimum Quading ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If the downward distance is less than this value then start Quading up to gain altitude\. +--------+ | Units | +========+ | meters | +--------+ .. _TA_QUAD_FWD_MIN: TA\_QUAD\_FWD\_MIN: minimum forward distance for Quading ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If the farwardward distance is less than this value then start Quading up to gain altitude\. +--------+ | Units | +========+ | meters | +--------+ .. _TA_PTCH_GSP_MIN: TA\_PTCH\_GSP\_MIN: minimum ground speed for Pitching ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum Groundspeed \(not airspeed\) to be flying for Pitching to be used\. +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _TA_PTCH_TIMEOUT: TA\_PTCH\_TIMEOUT: timeout Pitching ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum down or forward distance must be triggered for more than this many seconds to start Pitching +---------+ | Units | +=========+ | seconds | +---------+ .. _TA_HOME_DIST: TA\_HOME\_DIST: safe distance around home ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Terrain avoidance will not be applied if the vehicle is less than this distance from home +--------+ | Units | +========+ | meters | +--------+ .. _TA_ALT_MAX: TA\_ALT\_MAX: ceiling for pitching\/quading ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is a limit on how high the terrain avoidane will take the vehicle\. It acts a failsafe to prevent vertical flyaways\. +------------+--------+ | Range | Units | +============+========+ | 20 to 1000 | meters | +------------+--------+ .. _TA_GSP_MAX: TA\_GSP\_MAX: Maximum Groundspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is a limit on how fast in groundspeeed terrain avoidance will take the vehicle\. This is to allow for reliable sensor readings\. \-1 for disabled\. +----------+-------------------+ | Range | Units | +==========+===================+ | 10 to 40 | meters per second | +----------+-------------------+ .. _TA_GSP_AIRBRAKE: TA\_GSP\_AIRBRAKE: Groudspeed Airbrake limt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the limit for triggering airbrake to slow groundspeed as a difference between the airspeed and groundspeed\. \-1 for disabled\. +-----------+-------------------+ | Range | Units | +===========+===================+ | -1 to -10 | meters per second | +-----------+-------------------+ .. _TA_CMTC_HGT: TA\_CMTC\_HGT: CMTC Height ~~~~~~~~~~~~~~~~~~~~~~~~~~ The minimum Height above terrain to maintain when following an AUTO mission or RTL\. If zero\(0\) use TA\_PTCH\_DOW\_MIN\. +--------+ | Units | +========+ | meters | +--------+ .. _TA_CMTC_ENABLE: TA\_CMTC\_ENABLE: CMTC Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Whether to enable Can\'t Make That Climb while running Terrain Avoidance +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _TA_UPDATE_RATE: TA\_UPDATE\_RATE: Frequency to process avoidance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Avoidance processing rate +-------+ | Units | +=======+ | hertz | +-------+ .. _TA_CMTC_RAD: TA\_CMTC\_RAD: CMTC loiter radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Use this radius for the loiter when trying to gain altitude\. If not set or \<\=0 use WP\_LOITER\_RAD +--------+ | Units | +========+ | meters | +--------+ .. _ALAND_ENABLE: ALAND\_ENABLE: Auto land enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ enable Auto land script action +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _ALAND_WP_ALT: ALAND\_WP\_ALT: Final approach waypoint alt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Altitude of final approach waypoint created by script +----------+--------+ | Range | Units | +==========+========+ | 1 to 100 | meters | +----------+--------+ .. _ALAND_WP_DIST: ALAND\_WP\_DIST: Final approach waypoint distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance from landing point \(HOME\) to final approach waypoint created by script in the opposite direction of initial takeoff +-----------+--------+ | Range | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _AHRS_ORIG_LAT: AHRS\_ORIG\_LAT: AHRS\/EKF Origin Latitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ AHRS\/EKF origin will be set to this latitude if not already set +-------------+ | Range | +=============+ | -180 to 180 | +-------------+ .. _AHRS_ORIG_LON: AHRS\_ORIG\_LON: AHRS\/EKF Origin Longitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ AHRS\/EKF origin will be set to this longitude if not already set +-------------+ | Range | +=============+ | -180 to 180 | +-------------+ .. _AHRS_ORIG_ALT: AHRS\_ORIG\_ALT: AHRS\/EKF Origin Altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ AHRS\/EKF origin will be set to this altitude \(in meters above sea level\) if not already set +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _QUIK_ENABLE: QUIK\_ENABLE: Quicktune enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable quicktune system +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _QUIK_AXES: QUIK\_AXES: Quicktune axes ~~~~~~~~~~~~~~~~~~~~~~~~~~ axes to tune +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | Roll | +-----+---------+ | 1 | Pitch | +-----+---------+ | 2 | Yaw | +-----+---------+ .. _QUIK_DOUBLE_TIME: QUIK\_DOUBLE\_TIME: Quicktune doubling time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time to double a tuning parameter\. Raise this for a slower tune\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 20 | seconds | +---------+---------+ .. _QUIK_GAIN_MARGIN: QUIK\_GAIN\_MARGIN: Quicktune gain margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune +----------+---------+ | Range | Units | +==========+=========+ | 20 to 80 | percent | +----------+---------+ .. _QUIK_OSC_SMAX: QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _QUIK_YAW_P_MAX: QUIK\_YAW\_P\_MAX: Quicktune Yaw P max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum value for yaw P gain +----------+ | Range | +==========+ | 0.1 to 3 | +----------+ .. _QUIK_YAW_D_MAX: QUIK\_YAW\_D\_MAX: Quicktune Yaw D max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum value for yaw D gain +------------+ | Range | +============+ | 0.001 to 1 | +------------+ .. _QUIK_RP_PI_RATIO: QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain +------------+ | Range | +============+ | 0.5 to 1.0 | +------------+ .. _QUIK_Y_PI_RATIO: QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between P and I gains for yaw\. Raise this to get a lower I gain +-----------+ | Range | +===========+ | 0.5 to 20 | +-----------+ .. _QUIK_AUTO_FILTER: QUIK\_AUTO\_FILTER: Quicktune auto filter enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _QUIK_AUTO_SAVE: QUIK\_AUTO\_SAVE: Quicktune auto save ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +---------+ | Units | +=========+ | seconds | +---------+ .. _QUIK_RC_FUNC: QUIK\_RC\_FUNC: Quicktune RC function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RCn\_OPTION number to use to control tuning stop\/start\/save .. _QUIK_MAX_REDUCE: QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. +----------+---------+ | Range | Units | +==========+=========+ | 0 to 100 | percent | +----------+---------+ .. _QUIK_OPTIONS: QUIK\_OPTIONS: Quicktune options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. +-----+----------------------+ | Bit | Meaning | +=====+======================+ | 0 | UseTwoPositionSwitch | +-----+----------------------+ .. _QUIK_ANGLE_MAX: QUIK\_ANGLE\_MAX: maximum angle error for tune abort ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing\. If you get an error \"Tuning\: attitude error ABORTING\" and you think it is a false positive then you can either raise this parameter or you can try increasing the QUIK\_DOUBLE\_TIME to do the tune more slowly\. A value of zero disables this check\. +---------+ | Units | +=========+ | degrees | +---------+ .. _PARAM_LOCK_ENAB: PARAM\_LOCK\_ENAB: Param Lockdown enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Param Lockdown enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _PREV_ENABLE: PREV\_ENABLE: parameter reversion enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable parameter reversion system +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _PREV_RC_FUNC: PREV\_RC\_FUNC: param reversion RC function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RCn\_OPTION number to used to trigger parameter reversion .. _RCK_FORCEHL: RCK\_FORCEHL: Force enable High Latency mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Automatically enables High Latency mode if not already enabled +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | Disabled | +-------+---------------------------+ | 1 | Enabled | +-------+---------------------------+ | 2 | Enabled on telemetry loss | +-------+---------------------------+ .. _RCK_PERIOD: RCK\_PERIOD: Update rate ~~~~~~~~~~~~~~~~~~~~~~~~ When in High Latency mode\, send Rockblock updates every N seconds +----------+---------+ | Range | Units | +==========+=========+ | 0 to 600 | seconds | +----------+---------+ .. _RCK_DEBUG: RCK\_DEBUG: Display Rockblock debugging text ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sends Rockblock debug text to GCS via statustexts +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _RCK_ENABLE: RCK\_ENABLE: Enable Message transmission ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables the Rockblock sending and recieving +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _RCK_TIMEOUT: RCK\_TIMEOUT: GCS timeout to start sendin Rockblock messages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If RCK\_FORCEHL\=2\, this is the number of seconds of GCS timeout until High Latency mode is auto\-enabled +----------+---------+ | Range | Units | +==========+=========+ | 0 to 600 | seconds | +----------+---------+ .. _FOLLP_FAIL_MODE: FOLLP\_FAIL\_MODE: Plane Follow lost target mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mode to switch to if the target is lost \(no signal or \> FOLL\_DIST\_MAX\)\. .. _FOLLP_EXIT_MODE: FOLLP\_EXIT\_MODE: Plane Follow exit mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mode to switch to when follow mode is exited normally .. _FOLLP_ACT_FN: FOLLP\_ACT\_FN: Plane Follow Scripting ActivationFunction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Setting an RC channel\'s \_OPTION to this value will use it for Plane Follow enable\/disable +------------+ | Range | +============+ | 300 to 307 | +------------+ .. _FOLLP_TIMEOUT: FOLLP\_TIMEOUT: Plane Follow Telemetry Timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How long to try reaquire a target if telemetry from the lead vehicle is lost\. +---------+---------+ | Range | Units | +=========+=========+ | 0 to 30 | seconds | +---------+---------+ .. _FOLLP_OVRSHT_DEG: FOLLP\_OVRSHT\_DEG: Plane Follow Scripting Overshoot Angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If the target is greater than this many degrees left or right\, assume an overshoot +----------+---------+ | Range | Units | +==========+=========+ | 0 to 180 | degrees | +----------+---------+ .. _FOLLP_TURN_DEG: FOLLP\_TURN\_DEG: Plane Follow Scripting Turn Angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If the target is greater than this many degrees left or right\, assume it\'s turning +----------+---------+ | Range | Units | +==========+=========+ | 0 to 180 | degrees | +----------+---------+ .. _FOLLP_DIST_CLOSE: FOLLP\_DIST\_CLOSE: Plane Follow Scripting Close Distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When closer than this distance assume we track by heading +----------+--------+ | Range | Units | +==========+========+ | 0 to 100 | meters | +----------+--------+ .. _FOLLP_WIDE_TURNS: FOLLP\_WIDE\_TURNS: Plane Follow Scripting Wide Turns ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Use wide turns when following a turning target\. Alternative is \"cutting the corner\" +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_ALT: FOLLP\_ALT: Plane Follow Scripting Altitude Override ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When non zero\, this altitude value \(in FOLL\_ALT\_TYPE frame\) overrides the value sent by the target vehicle +-----------+--------+ | Range | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _FOLLP_D_P: FOLLP\_D\_P: Plane Follow Scripting distance P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ P gain for the speed PID controller distance component +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_D_I: FOLLP\_D\_I: Plane Follow Scripting distance I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ I gain for the speed PID distance component +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_D_D: FOLLP\_D\_D: Plane Follow Scripting distance D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ D gain for the speed PID controller distance component +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_V_P: FOLLP\_V\_P: Plane Follow Scripting speed P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ P gain for the speed PID controller velocity component +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_V_I: FOLLP\_V\_I: Plane Follow Scripting speed I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ I gain for the speed PID controller velocity component +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_V_D: FOLLP\_V\_D: Plane Follow Scripting speed D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ D gain for the speed PID controller velocity component +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_LkAHD: FOLLP\_LkAHD: Plane Follow Lookahead seconds ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time to \"lookahead\" when calculating distance errors +---------+ | Units | +=========+ | seconds | +---------+ .. _FOLLP_SIM_TLF_FN: FOLLP\_SIM\_TLF\_FN: Plane Follow Simulate Telemetry fail function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set this switch to simulate losing telemetry from the other vehicle +------------+ | Range | +============+ | 300 to 307 | +------------+ .. _FOLLP_XT_P: FOLLP\_XT\_P: Plane Follow crosstrack PID controller P term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ P term for the crosstrack\/heading PID controller +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_XT_I: FOLLP\_XT\_I: Plane Follow crosstrack PID controller I term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ I term for the crosstrack\/heading PID controller +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_XT_D: FOLLP\_XT\_D: Plane Follow crosstrack PID controller D term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ D term for the crosstrack\/heading PID controller +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _FOLLP_XT_MAX: FOLLP\_XT\_MAX: Plane Follow crosstrack PID controller maximum correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ maximum correction retured by the crosstrack\/heading PID controller +--------+---------+ | Range | Units | +========+=========+ | 0 to 1 | degrees | +--------+---------+ .. _FOLLP_XT_I_MAX: FOLLP\_XT\_I\_MAX: Plane Follow crosstrack PID controller maximum integral ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ maximum I applied the crosstrack\/heading PID controller +----------+--------------+ | Range | Units | +==========+==============+ | 0 to 100 | milliseconds | +----------+--------------+ .. _FOLLP_REFRESH: FOLLP\_REFRESH: Plane Follow refresh rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ refresh rate for Plane Follow updates +----------+---------+ | Range | Units | +==========+=========+ | 0 to 0.2 | seconds | +----------+---------+ .. _POI_DIST_MAX: POI\_DIST\_MAX: Mount POI distance max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ POI\'s max distance \(in meters\) from the vehicle +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _ARM_SYSID: ARM\_SYSID: MAV\_SYSID must be set ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Check that MAV\_SYSID \(or SYDID\_THISMAV\) has been set\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_FOLL_SYSID: ARM\_FOLL\_SYSID: FOLL\_SYSID must be set ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If FOLL\_ENABLE \= 1\, check that FOLL\_SYSID has been set\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_FOLL_SYSID_X: ARM\_FOLL\_SYSID\_X: Vehicle should not follow itself ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If FOLL\_ENABLE \= 1\, check that FOLL\_SYSID is different to MAV\_SYSID\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_FOLL_OFS_DEF: ARM\_FOLL\_OFS\_DEF: Follow Offsets defaulted ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow offsets should not be left as default \(zero\) if FOLL\_ENABLE \= 1\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_MNTX_SYSID: ARM\_MNTX\_SYSID: Follow and Mount should follow the same vehicle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If FOLL\_ENABLE \= 1 and MNTx\_SYSID\_DEFLT is set\, check that FOLL\_SYSID is equal MNTx\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_RTL_CLIMB: ARM\_RTL\_CLIMB: RTL\_CLIMB\_MIN should be a valid value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RTL\_CLIMB\_MIN should be \< 120m \(400ft\)\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_ESTOP: ARM\_ESTOP: Motors EStopped ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Emergency Stop disables arming\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_FENCE: ARM\_FENCE: Fence not enabled ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Fences loaded but no fence enabled\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_RALLY: ARM\_RALLY: Rally too far ~~~~~~~~~~~~~~~~~~~~~~~~~ Rally Point more than RALLY\_LIMIT\_KM kilometers away\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_C_RTL_ALT_M: ARM\_C\_RTL\_ALT\_M: RTL\_ALT\_M should be a valid value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RTL\_ALT\_M should be \< 120m \(400ft\)\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_P_Q_FS_LAND: ARM\_P\_Q\_FS\_LAND: Warn if Q failsafe will land ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Notify the user that on failsafe a QuadPlan will land\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_P_Q_FS_RTL: ARM\_P\_Q\_FS\_RTL: Warn if Q failsafe will QRTL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Notify the user that on failsafe a QuadPlan will QRTL\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_P_AIRSPEED: ARM\_P\_AIRSPEED: Check AIRSPEED\_ parameters ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Validate that AIRSPEED\_STALL\(if set\) \< MIN \< CRUISE \< MAX d\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_P_STALL: ARM\_P\_STALL: AIRSPEED\_MIN should be 25\% above STALL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Validate that AIRSPEED\_MIN is at least 25\% above AIRSPEED\_STALL\(if set\)\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_P_SCALING: ARM\_P\_SCALING: SCALING\_SPEED valid ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Validate that SCALING\_SPEED is within 20\% of AIRSPEED\_CRUISE\. If SCALING\_SPEED changes the vehicle may need to be retuned\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_P_RTL_ALT: ARM\_P\_RTL\_ALT: RTL\_ALTITUDE should be a valid value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RTL\_ALTITITUDE should be \< 120m \(400ft\)\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_P_QRTL_ALT: ARM\_P\_QRTL\_ALT: Q\_RTL\_ALT should be a valid value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Q\_RTL\_ALT should be \< 120m \(400ft\)\. 3 or less to prevent arming\. \-1 to disable\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 0 | Emergency(PreArm) | +-------+-------------------+ | 1 | Alert(PreArm) | +-------+-------------------+ | 2 | Critical(PreArm) | +-------+-------------------+ | 3 | Error(PreArm) | +-------+-------------------+ | 4 | Warning | +-------+-------------------+ | 5 | Notice | +-------+-------------------+ | 6 | Info | +-------+-------------------+ | 7 | Debug | +-------+-------------------+ .. _ARM_V_ALT_LEGAL: ARM\_V\_ALT\_LEGAL: Legal max altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Legal max altitude for UAV\/RPAS\/drones in your jurisdiction +--------+ | Units | +========+ | meters | +--------+ .. _TERR_BRK_ENABLE: TERR\_BRK\_ENABLE: terrain brake enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ terrain brake enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _TERR_BRK_ALT: TERR\_BRK\_ALT: terrain brake altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ terrain brake altitude\. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 100 | meters | +----------+--------+ .. _TERR_BRK_HDIST: TERR\_BRK\_HDIST: terrain brake home distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ terrain brake home distance\. The distance from home where the auto BRAKE will be enabled\. When within this distance of home the script will not activate +-----------+--------+ | Range | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _TERR_BRK_SPD: TERR\_BRK\_SPD: terrain brake speed threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ terrain brake speed threshold\. Don\'t trigger BRAKE if both horizontal speed and descent rate are below this threshold\. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode\. A value of 0\.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change\. +--------+-------------------+ | Range | Units | +========+===================+ | 0 to 5 | meters per second | +--------+-------------------+ .. _RK9_FORCEHL: RK9\_FORCEHL: Force enable High Latency mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Automatically enables High Latency mode if not already enabled +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | Disabled | +-------+---------------------------+ | 1 | Enabled | +-------+---------------------------+ | 2 | Enabled on telemetry loss | +-------+---------------------------+ .. _RK9_PERIOD: RK9\_PERIOD: Update rate ~~~~~~~~~~~~~~~~~~~~~~~~ When in High Latency mode\, send Rockblock updates every N seconds +----------+---------+ | Range | Units | +==========+=========+ | 0 to 600 | seconds | +----------+---------+ .. _RK9_DEBUG: RK9\_DEBUG: Display Rockblock debugging text ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sends Rockblock debug text to GCS via statustexts +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _RK9_ENABLE: RK9\_ENABLE: Enable Message transmission ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables the Rockblock sending and recieving +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _RK9_TIMEOUT: RK9\_TIMEOUT: GCS timeout to start sendin Rockblock messages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If RK9\_FORCEHL\=2\, this is the number of seconds of GCS timeout until High Latency mode is auto\-enabled +----------+---------+ | Range | Units | +==========+=========+ | 0 to 600 | seconds | +----------+---------+ .. _RK9_SERPORT: RK9\_SERPORT: Rockblock Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Serial port number to which the Rockblock is connected\.This is the index of the SERIALn\_ ports that are set to 28 for \"scripting\" +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _RK9_SCRPORT: RK9\_SCRPORT: Rockblock Scripting Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scripting Serial port number to which the Rockblock is connected for HL2 messages This is the index of the SCR\_SDEV ports that are set to 2 for \"MavlinkHL\" +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _RK9_RELAY: RK9\_RELAY: Rockblock Power Relay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RELAYn output to control Rockblock power\. This connects to I\_EN on the Rockblock header\. +--------+ | Range | +========+ | 1 to 8 | +--------+ .. _RK9_BOOTED: RK9\_BOOTED: Rockblock booted feedback ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SERVOn GPIO channel that reads the Rockblock booted state\. This connects to I\_BTD on the Rockblock header\. Requires SERVON\_FUNCTION\=\-1 +-----------+ | Range | +===========+ | 50 to 110 | +-----------+ .. _DR_ENABLE: DR\_ENABLE: Deadreckoning Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Deadreckoning Enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _DR_ENABLE_DIST: DR\_ENABLE\_DIST: Deadreckoning Enable Distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance from home \(in meters\) beyond which the dead reckoning will be enabled +--------+ | Units | +========+ | meters | +--------+ .. _DR_GPS_SACC_MAX: DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy +---------+ | Range | +=========+ | 0 to 10 | +---------+ .. _DR_GPS_SAT_MIN: DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count +---------+ | Range | +=========+ | 0 to 30 | +---------+ .. _DR_GPS_TRIGG_SEC: DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS checks must fail for this many seconds before dead reckoning will be triggered +---------+ | Units | +=========+ | seconds | +---------+ .. _DR_FLY_ANGLE: DR\_FLY\_ANGLE: Deadreckoning Lean Angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ lean angle \(in degrees\) during deadreckoning +---------+---------+ | Range | Units | +=========+=========+ | 0 to 45 | degrees | +---------+---------+ .. _DR_FLY_ALT_MIN: DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Copter will fly at at least this altitude \(in meters\) above home during deadreckoning +-----------+--------+ | Range | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _DR_FLY_TIMEOUT: DR\_FLY\_TIMEOUT: Deadreckoning flight timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout +---------+ | Units | +=========+ | seconds | +---------+ .. _DR_NEXT_MODE: DR\_NEXT\_MODE: Deadreckoning Next Mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered +-------+--------------+ | Value | Meaning | +=======+==============+ | 2 | AltHold | +-------+--------------+ | 3 | Auto | +-------+--------------+ | 4 | Guided | +-------+--------------+ | 5 | Loiter | +-------+--------------+ | 6 | RTL | +-------+--------------+ | 7 | Circle | +-------+--------------+ | 9 | Land | +-------+--------------+ | 16 | PosHold | +-------+--------------+ | 17 | Brake | +-------+--------------+ | 20 | Guided_NoGPS | +-------+--------------+ | 21 | Smart_RTL | +-------+--------------+ | 27 | Auto RTL | +-------+--------------+ .. _BATT_SOC_COUNT: BATT\_SOC\_COUNT: Count of SOC estimators ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of battery SOC estimators +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _BATT_SOC1_IDX: BATT\_SOC1\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator index +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _BATT_SOC1_NCELL: BATT\_SOC1\_NCELL: Battery estimator cell count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator cell count +---------+ | Range | +=========+ | 0 to 48 | +---------+ .. _BATT_SOC1_C1: BATT\_SOC1\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient1 +------------+ | Range | +============+ | 100 to 200 | +------------+ .. _BATT_SOC1_C2: BATT\_SOC1\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient2 +--------+ | Range | +========+ | 2 to 5 | +--------+ .. _BATT_SOC1_C3: BATT\_SOC1\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient3 +-------------+ | Range | +=============+ | 0.01 to 0.5 | +-------------+ .. _BATT_SOC1_C4: BATT\_SOC1\_C4: Battery estimator coefficient4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient4 +----------+ | Range | +==========+ | 5 to 100 | +----------+ .. _BATT_SOC2_IDX: BATT\_SOC2\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator index +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _BATT_SOC2_NCELL: BATT\_SOC2\_NCELL: Battery estimator cell count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator cell count +---------+ | Range | +=========+ | 0 to 48 | +---------+ .. _BATT_SOC2_C1: BATT\_SOC2\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient1 +------------+ | Range | +============+ | 100 to 200 | +------------+ .. _BATT_SOC2_C2: BATT\_SOC2\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient2 +--------+ | Range | +========+ | 2 to 5 | +--------+ .. _BATT_SOC2_C3: BATT\_SOC2\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient3 +-------------+ | Range | +=============+ | 0.01 to 0.5 | +-------------+ .. _BATT_SOC2_C4: BATT\_SOC2\_C4: Battery estimator coefficient4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient4 +----------+ | Range | +==========+ | 5 to 100 | +----------+ .. _BATT_SOC3_IDX: BATT\_SOC3\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator index +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _BATT_SOC3_NCELL: BATT\_SOC3\_NCELL: Battery estimator cell count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator cell count +---------+ | Range | +=========+ | 0 to 48 | +---------+ .. _BATT_SOC3_C1: BATT\_SOC3\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient1 +------------+ | Range | +============+ | 100 to 200 | +------------+ .. _BATT_SOC3_C2: BATT\_SOC3\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient2 +--------+ | Range | +========+ | 2 to 5 | +--------+ .. _BATT_SOC3_C3: BATT\_SOC3\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient3 +-------------+ | Range | +=============+ | 0.01 to 0.5 | +-------------+ .. _BATT_SOC3_C4: BATT\_SOC3\_C4: Battery estimator coefficient4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient4 +----------+ | Range | +==========+ | 5 to 100 | +----------+ .. _BATT_SOC4_IDX: BATT\_SOC4\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator index +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _BATT_SOC4_NCELL: BATT\_SOC4\_NCELL: Battery estimator cell count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator cell count +---------+ | Range | +=========+ | 0 to 48 | +---------+ .. _BATT_SOC4_C1: BATT\_SOC4\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient1 +------------+ | Range | +============+ | 100 to 200 | +------------+ .. _BATT_SOC4_C2: BATT\_SOC4\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient2 +--------+ | Range | +========+ | 2 to 5 | +--------+ .. _BATT_SOC4_C3: BATT\_SOC4\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient3 +-------------+ | Range | +=============+ | 0.01 to 0.5 | +-------------+ .. _BATT_SOC4_C4: BATT\_SOC4\_C4: Battery estimator coefficient4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator coefficient4 +----------+ | Range | +==========+ | 5 to 100 | +----------+ .. _SHIP_ENABLE: SHIP\_ENABLE: Ship landing enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable ship landing system +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SHIP_LAND_ANGLE: SHIP\_LAND\_ANGLE: Ship landing angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. +-------------+---------+ | Range | Units | +=============+=========+ | -180 to 180 | degrees | +-------------+---------+ .. _SHIP_AUTO_OFS: SHIP\_AUTO\_OFS: Ship automatic offset trigger ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Trigger | +-------+----------+ .. _AEROM_ANG_ACCEL: AEROM\_ANG\_ACCEL: Angular acceleration limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum angular acceleration in maneuvers +---------------------------+ | Units | +===========================+ | degrees per square second | +---------------------------+ .. _AEROM_ANG_TC: AEROM\_ANG\_TC: Roll control filtertime constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the time over which we filter the desired roll to smooth it +---------+ | Units | +=========+ | seconds | +---------+ .. _AEROM_THR_PIT_FF: AEROM\_THR\_PIT\_FF: Throttle feed forward from pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how much extra throttle to add based on pitch ange\. The value is for 90 degrees and is applied in proportion to pitch +---------+ | Units | +=========+ | percent | +---------+ .. _AEROM_SPD_P: AEROM\_SPD\_P: P gain for speed controller ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how rapidly the throttle is raised to compensate for a speed error +---------+ | Units | +=========+ | percent | +---------+ .. _AEROM_SPD_I: AEROM\_SPD\_I: I gain for speed controller ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how rapidly the throttle is raised to compensate for a speed error +---------+ | Units | +=========+ | percent | +---------+ .. _AEROM_ROL_COR_TC: AEROM\_ROL\_COR\_TC: Roll control time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the time constant for correcting roll errors\. A smaller value leads to faster roll corrections +---------+ | Units | +=========+ | seconds | +---------+ .. _AEROM_TIME_COR_P: AEROM\_TIME\_COR\_P: Time constant for correction of our distance along the path ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the time constant for correcting path position errors +---------+ | Units | +=========+ | seconds | +---------+ .. _AEROM_ERR_COR_P: AEROM\_ERR\_COR\_P: P gain for path error corrections ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how rapidly we correct back onto the desired path .. _AEROM_ERR_COR_D: AEROM\_ERR\_COR\_D: D gain for path error corrections ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how rapidly we correct back onto the desired path .. _AEROM_ENTRY_RATE: AEROM\_ENTRY\_RATE: The roll rate to use when entering a roll maneuver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how rapidly we roll into a new orientation +--------------------+ | Units | +====================+ | degrees per second | +--------------------+ .. _AEROM_THR_LKAHD: AEROM\_THR\_LKAHD: The lookahead for throttle control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how far ahead we look in time along the path for the target throttle +---------+ | Units | +=========+ | seconds | +---------+ .. _AEROM_DEBUG: AEROM\_DEBUG: Debug control ~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls the printing of extra debug information on paths .. _AEROM_THR_MIN: AEROM\_THR\_MIN: Minimum Throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Lowest throttle used during maneuvers +---------+ | Units | +=========+ | percent | +---------+ .. _AEROM_THR_BOOST: AEROM\_THR\_BOOST: Throttle boost ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the extra throttle added in schedule elements marked as needing a throttle boost +---------+ | Units | +=========+ | percent | +---------+ .. _AEROM_YAW_ACCEL: AEROM\_YAW\_ACCEL: Yaw acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is maximum yaw acceleration to use +---------------------------+ | Units | +===========================+ | degrees per square second | +---------------------------+ .. _AEROM_LKAHD: AEROM\_LKAHD: Lookahead ~~~~~~~~~~~~~~~~~~~~~~~ This is how much time to look ahead in the path for calculating path rates +---------+ | Units | +=========+ | seconds | +---------+ .. _AEROM_PATH_SCALE: AEROM\_PATH\_SCALE: Path Scale ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scale factor for Path\/Box size\. 0\.5 would half the distances in maneuvers\. Radii are unaffected\. +------------+ | Range | +============+ | 0.1 to 100 | +------------+ .. _AEROM_BOX_WIDTH: AEROM\_BOX\_WIDTH: Box Width ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Length of aerobatic \"box\" +--------+ | Units | +========+ | meters | +--------+ .. _AEROM_STALL_THR: AEROM\_STALL\_THR: Stall turn throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Amount of throttle to reduce to for a stall turn +---------+ | Units | +=========+ | percent | +---------+ .. _AEROM_STALL_PIT: AEROM\_STALL\_PIT: Stall turn pitch threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch threashold for moving to final stage of stall turn +---------+ | Units | +=========+ | degrees | +---------+ .. _AEROM_KE_RUDD: AEROM\_KE\_RUDD: KnifeEdge Rudder ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Percent of rudder normally uses to sustain knife\-edge at trick speed +---------+ | Units | +=========+ | percent | +---------+ .. _AEROM_KE_RUDD_LK: AEROM\_KE\_RUDD\_LK: KnifeEdge Rudder lookahead ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time to look ahead in the path to calculate rudder correction for bank angle +---------+ | Units | +=========+ | seconds | +---------+ .. _AEROM_ALT_ABORT: AEROM\_ALT\_ABORT: Altitude Abort ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum allowable loss in altitude during a trick or sequence from its starting altitude\. +--------+ | Units | +========+ | meters | +--------+ .. _AEROM_TS_P: AEROM\_TS\_P: Timesync P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how rapidly two aircraft are brought back into time sync .. _AEROM_TS_I: AEROM\_TS\_I: Timesync I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how rapidly two aircraft are brought back into time sync .. _AEROM_TS_SPDMAX: AEROM\_TS\_SPDMAX: Timesync speed max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the maximum speed adjustment for time sync between aircraft +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _AEROM_TS_RATE: AEROM\_TS\_RATE: Timesync rate of send of NAMED\_VALUE\_FLOAT data ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the rate we send data for time sync between aircraft +-------+ | Units | +=======+ | hertz | +-------+ .. _AEROM_MIS_ANGLE: AEROM\_MIS\_ANGLE: Mission angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When set to a non\-zero value\, this is the assumed direction of the mission\. Otherwise the waypoint angle is used +---------+ | Units | +=========+ | degrees | +---------+ .. _AEROM_OPTIONS: AEROM\_OPTIONS: Aerobatic options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options to control aerobatic behavior +-----+--------------------------+ | Bit | Meaning | +=====+==========================+ | 0 | UseRTLOnAbort | +-----+--------------------------+ | 1 | AddAtToMessages | +-----+--------------------------+ | 2 | DualAircraftSynchronised | +-----+--------------------------+ +---------+ | Units | +=========+ | degrees | +---------+ .. _TRIK_ENABLE: TRIK\_ENABLE: Tricks on Switch Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables Tricks on Switch\. TRIK params hidden until enabled .. _TRIK_SEL_FN: TRIK\_SEL\_FN: Trik Selection Scripting Function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Setting an RC channel\'s \_OPTION to this value will use it for trick selection +------------+ | Range | +============+ | 301 to 307 | +------------+ .. _TRIK_ACT_FN: TRIK\_ACT\_FN: Trik Action Scripting Function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) +------------+ | Range | +============+ | 301 to 307 | +------------+ .. _TRIK_COUNT: TRIK\_COUNT: Trik Count ~~~~~~~~~~~~~~~~~~~~~~~ Number of tricks which can be selected over the range of the trik selection RC channel +---------+ | Range | +=========+ | 1 to 11 | +---------+ .. _EFI_HFE_ENABLE: EFI\_HFE\_ENABLE: Enable HFE EFI driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable HFE EFI driver +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_HFE_RATE_HZ: EFI\_HFE\_RATE\_HZ: HFI EFI Update rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ HFI EFI Update rate +----------+ | Range | +==========+ | 0 to 400 | +----------+ .. _EFI_HFE_ECU_IDX: EFI\_HFE\_ECU\_IDX: HFI EFI ECU index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ HFI EFI ECU index\, 0 for automatic +---------+ | Range | +=========+ | 0 to 10 | +---------+ .. _EFI_HFE_FUEL_DTY: EFI\_HFE\_FUEL\_DTY: HFI EFI fuel density ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ HFI EFI fuel density in gram per litre +-----------+ | Range | +===========+ | 0 to 2000 | +-----------+ .. _EFI_HFE_REL_IDX: EFI\_HFE\_REL\_IDX: HFI EFI relay index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ HFI EFI relay index +---------+ | Range | +=========+ | 0 to 10 | +---------+ .. _EFI_HFE_CANDRV: EFI\_HFE\_CANDRV: HFI EFI CAN driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ HFI EFI CAN driver +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 1 | 1stCANDriver | +-------+--------------+ | 2 | 2ndCanDriver | +-------+--------------+ .. _EFI_H6K_ENABLE: EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable Halo6000 EFI driver +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_H6K_CANDRV: EFI\_H6K\_CANDRV: Halo6000 CAN driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver +-------+-----------+ | Value | Meaning | +=======+===========+ | 0 | Disabled | +-------+-----------+ | 1 | FirstCAN | +-------+-----------+ | 2 | SecondCAN | +-------+-----------+ .. _EFI_H6K_START_FN: EFI\_H6K\_START\_FN: Halo6000 start auxilliary function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 300 | 300 | +-------+----------+ | 301 | 301 | +-------+----------+ | 302 | 302 | +-------+----------+ | 303 | 303 | +-------+----------+ | 304 | 304 | +-------+----------+ | 305 | 305 | +-------+----------+ | 306 | 306 | +-------+----------+ | 307 | 307 | +-------+----------+ .. _EFI_H6K_TELEM_RT: EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The rate that additional generator telemetry is sent +-------+ | Units | +=======+ | hertz | +-------+ .. _EFI_H6K_FUELTOT: EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The capacity of the tank in litres +--------+ | Units | +========+ | litres | +--------+ .. _DCS_NUM_CIRCUITS: DCS\_NUM\_CIRCUITS: Number of CircuitStatus monitors ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Number of DroneCAN CircuitStatus battery monitor instances\. The per\-instance DCSx\_ parameters are created based on this value\. +--------+ | Range | +========+ | 0 to 9 | +--------+ .. _DCS1_CIRCUIT_ID: DCS1\_CIRCUIT\_ID: CircuitStatus circuit ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ circuit\_id of the CircuitStatus message to use for this instance\. Set to \-1 to disable\. +-------------+ | Range | +=============+ | -1 to 65535 | +-------------+ .. _DCS1_BATT_IDX: DCS1\_BATT\_IDX: CircuitStatus battery index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery monitor instance to feed with this circuit\. Set to 1 for BATT\, 2 for BATT2 etc\. The corresponding BATTn\_MONITOR must be 29 \(scripting\)\. Set to 0 to disable\. +--------+ | Range | +========+ | 0 to 9 | +--------+ .. _UM_SERVO_MASK: UM\_SERVO\_MASK: Mask of UltraMotion servos ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mask of UltraMotion servos +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | SERVO1 | +-----+---------+ | 1 | SERVO2 | +-----+---------+ | 2 | SERVO3 | +-----+---------+ | 3 | SERVO4 | +-----+---------+ | 4 | SERVO5 | +-----+---------+ | 5 | SERVO6 | +-----+---------+ | 6 | SERVO7 | +-----+---------+ | 7 | SERVO8 | +-----+---------+ | 8 | SERVO9 | +-----+---------+ | 9 | SERVO10 | +-----+---------+ | 10 | SERVO11 | +-----+---------+ | 11 | SERVO12 | +-----+---------+ .. _UM_CANDRV: UM\_CANDRV: Set CAN driver ~~~~~~~~~~~~~~~~~~~~~~~~~~ Set CAN driver +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 1 | 1stCANDriver | +-------+--------------+ | 2 | 2ndCanDriver | +-------+--------------+ .. _UM_RATE_HZ: UM\_RATE\_HZ: Update rate for UltraMotion servos ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Update rate for UltraMotion servos +----------+-------+ | Range | Units | +==========+=======+ | 1 to 400 | hertz | +----------+-------+ .. _UM_OPTIONS: UM\_OPTIONS: Optional settings ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Optional settings +-----+--------------------------+ | Bit | Meaning | +=====+==========================+ | 1 | ParseTelemetry | +-----+--------------------------+ | 2 | SendPosAsNamedValueFloat | +-----+--------------------------+ .. _EFI_2K_ENABLE: EFI\_2K\_ENABLE: Enable NMEA 2000 EFI driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable NMEA 2000 EFI driver +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_2K_CANDRV: EFI\_2K\_CANDRV: NMEA 2000 CAN driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ NMEA 2000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver +-------+-----------+ | Value | Meaning | +=======+===========+ | 0 | Disabled | +-------+-----------+ | 1 | FirstCAN | +-------+-----------+ | 2 | SecondCAN | +-------+-----------+ .. _DJIR_DEBUG: DJIR\_DEBUG: DJIRS2 debug ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable DJIRS2 debug +-------+---------------------------------+ | Value | Meaning | +=======+=================================+ | 0 | Disabled | +-------+---------------------------------+ | 1 | Enabled | +-------+---------------------------------+ | 2 | Enabled with attitude reporting | +-------+---------------------------------+ .. _DJIR_UPSIDEDOWN: DJIR\_UPSIDEDOWN: DJIRS2 upside down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ DJIRS2 upside down +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Right side up | +-------+---------------+ | 1 | Upside down | +-------+---------------+ .. _EFI_SP_ENABLE: EFI\_SP\_ENABLE: Enable SkyPower EFI support ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable SkyPower EFI support +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_SP_CANDRV: EFI\_SP\_CANDRV: Set SkyPower EFI CAN driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set SkyPower EFI CAN driver +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 1 | 1stCANDriver | +-------+--------------+ | 2 | 2ndCanDriver | +-------+--------------+ .. _EFI_SP_UPDATE_HZ: EFI\_SP\_UPDATE\_HZ: SkyPower EFI update rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SkyPower EFI update rate +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 200 | hertz | +-----------+-------+ .. _EFI_SP_THR_FN: EFI\_SP\_THR\_FN: SkyPower EFI throttle function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SkyPower EFI throttle function\. This sets which SERVOn\_FUNCTION to use for the target throttle\. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control +-------+-----------+ | Value | Meaning | +=======+===========+ | 0 | Disabled | +-------+-----------+ | 70 | FixedWing | +-------+-----------+ | 31 | HeliRSC | +-------+-----------+ .. _EFI_SP_THR_RATE: EFI\_SP\_THR\_RATE: SkyPower EFI throttle rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SkyPower EFI throttle rate\. This sets rate at which throttle updates are sent to the engine +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 100 | hertz | +-----------+-------+ .. _EFI_SP_START_FN: EFI\_SP\_START\_FN: SkyPower EFI start function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SkyPower EFI start function\. This is the RCn\_OPTION value to use to find the R\/C channel used for controlling engine start +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 300 | 300 | +-------+----------+ | 301 | 301 | +-------+----------+ | 302 | 302 | +-------+----------+ | 303 | 303 | +-------+----------+ | 304 | 304 | +-------+----------+ | 305 | 305 | +-------+----------+ | 306 | 306 | +-------+----------+ | 307 | 307 | +-------+----------+ .. _EFI_SP_GEN_FN: EFI\_SP\_GEN\_FN: SkyPower EFI generator control function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SkyPower EFI generator control function\. This is the RCn\_OPTION value to use to find the R\/C channel used for controlling generator start\/stop +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 300 | 300 | +-------+----------+ | 301 | 301 | +-------+----------+ | 302 | 302 | +-------+----------+ | 303 | 303 | +-------+----------+ | 304 | 304 | +-------+----------+ | 305 | 305 | +-------+----------+ | 306 | 306 | +-------+----------+ | 307 | 307 | +-------+----------+ .. _EFI_SP_MIN_RPM: EFI\_SP\_MIN\_RPM: SkyPower EFI minimum RPM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SkyPower EFI minimum RPM\. This is the RPM below which the engine is considered to be stopped +-----------+ | Range | +===========+ | 1 to 1000 | +-----------+ .. _EFI_SP_TLM_RT: EFI\_SP\_TLM\_RT: SkyPower EFI telemetry rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SkyPower EFI telemetry rate\. This is the rate at which extra telemetry values are sent to the GCS +---------+-------+ | Range | Units | +=========+=======+ | 1 to 10 | hertz | +---------+-------+ .. _EFI_SP_LOG_RT: EFI\_SP\_LOG\_RT: SkyPower EFI log rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SkyPower EFI log rate\. This is the rate at which extra logging of the SkyPower EFI is performed +---------+-------+ | Range | Units | +=========+=======+ | 1 to 50 | hertz | +---------+-------+ .. _EFI_SP_ST_DISARM: EFI\_SP\_ST\_DISARM: SkyPower EFI allow start disarmed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SkyPower EFI allow start disarmed\. This controls if starting the engine while disarmed is allowed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_SP_MODEL: EFI\_SP\_MODEL: SkyPower EFI ECU model ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SkyPower EFI ECU model +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | SRE_180 | +-------+---------+ | 1 | SP_275 | +-------+---------+ .. _EFI_SP_GEN_CTRL: EFI\_SP\_GEN\_CTRL: SkyPower EFI enable generator control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SkyPower EFI enable generator control +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_SP_RST_TIME: EFI\_SP\_RST\_TIME: SkyPower EFI restart time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SkyPower EFI restart time\. If engine should be running and it has stopped for this amount of time then auto\-restart\. To disable this feature set this value to zero\. +---------+---------+ | Range | Units | +=========+=========+ | 0 to 10 | seconds | +---------+---------+ .. _EFI_DLA64_ENABLE: EFI\_DLA64\_ENABLE: EFI DLA64 enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable EFI DLA64 driver +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _TRQL_ENABLE: TRQL\_ENABLE: Torqeedo TorqLink Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Torqeedo TorqLink Enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _TRQL_DEBUG: TRQL\_DEBUG: Torqeedo TorqLink Debug Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Torqeedo TorqLink Debug Level +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | None | +-------+---------+ | 1 | Low | +-------+---------+ | 2 | Medium | +-------+---------+ | 3 | High | +-------+---------+ .. _EFI_DLA_ENABLE: EFI\_DLA\_ENABLE: EFI DLA enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable EFI DLA driver +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_DLA_LPS: EFI\_DLA\_LPS: EFI DLA fuel scale ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ EFI DLA litres of fuel per second of injection time +--------------+--------+ | Range | Units | +==============+========+ | 0.00001 to 1 | litres | +--------------+--------+ .. _BATT_ANX_ENABLE: BATT\_ANX\_ENABLE: Enable ANX battery support ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable ANX battery support +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _BATT_ANX_CANDRV: BATT\_ANX\_CANDRV: Set ANX CAN driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set ANX CAN driver +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 1 | 1stCANDriver | +-------+--------------+ | 2 | 2ndCanDriver | +-------+--------------+ .. _BATT_ANX_INDEX: BATT\_ANX\_INDEX: ANX CAN battery index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ANX CAN battery index +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _EFI_SVF_ENABLE: EFI\_SVF\_ENABLE: Generator SVFFI enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable SVFFI generator support +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_SVF_ARMCHECK: EFI\_SVF\_ARMCHECK: Generator SVFFI arming check ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Check for Generator ARM state before arming +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _ENABLE: ENABLE: Enable this script ~~~~~~~~~~~~~~~~~~~~~~~~~~ When set to 0 this script will not run\. When set to 1 this script will run\. +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _BATT_IDX: BATT\_IDX: Index of assigned battery\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ensure this battery is configured with \`BATT\*\_MONITOR\=29\`\. .. _CFACT: CFACT: Measurement correction factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is multiplicative factor to correct the measured flow\. Set to \<1 if your sensor measures too high\. .. _MODE: MODE: Sensor operating mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: The sensor will save the fuel consumption across power resets\. 1\: The sensor will reset the power consumption\. .. _PORT: PORT: Scripting serial port number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Which Scripting serial port the sensor is connected at\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _EFI_INF_ENABLE: EFI\_INF\_ENABLE: EFI INF\-Inject enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable EFI INF\-Inject driver +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_INF_OPTIONS: EFI\_INF\_OPTIONS: EFI INF\-Inject options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ EFI INF driver options +-----+---------------+ | Bit | Meaning | +=====+===============+ | 0 | EnableLogging | +-----+---------------+ .. _EFI_INF_THR_HZ: EFI\_INF\_THR\_HZ: EFI INF\-Inject throttle rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ EFI INF throttle output rate +---------+-------+ | Range | Units | +=========+=======+ | 0 to 50 | hertz | +---------+-------+ .. _EFI_INF_IGN_AUX: EFI\_INF\_IGN\_AUX: EFI INF\-Inject ignition aux function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ EFI INF throttle ignition aux function .. _LTE_ENABLE: LTE\_ENABLE: LTE Enable ~~~~~~~~~~~~~~~~~~~~~~~ Enable or disable the LTE modem driver +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _LTE_SERPORT: LTE\_SERPORT: Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~ Serial port to use for the LTE modem\. This is the index of the SERIALn\_ ports that are set to 28 for \"scripting\" +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _LTE_SCRPORT: LTE\_SCRPORT: Scripting Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scripting Serial port to use for the LTE modem\. This is the index of the SCR\_SDEV ports that are set to 2 for \"MAVLink2\" +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _LTE_SERVER_IP0: LTE\_SERVER\_IP0: Server IP 0 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ First octet of the server IP address to connect to +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _LTE_SERVER_IP1: LTE\_SERVER\_IP1: Server IP 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Second octet of the server IP address to connect to +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _LTE_SERVER_IP2: LTE\_SERVER\_IP2: Server IP 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Third octet of the server IP address to connect to +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _LTE_SERVER_IP3: LTE\_SERVER\_IP3: Server IP 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Fourth octet of the server IP address to connect to +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _LTE_SERVER_PORT: LTE\_SERVER\_PORT: Server Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ IPv4 Port of the server to connect to +------------+ | Range | +============+ | 1 to 65525 | +------------+ .. _LTE_BAUD: LTE\_BAUD: Serial Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Baud rate for the serial port to the LTE modem when connected\. Initial power on baudrate is in LTE\_IBAUD +---------+---------+ | Value | Meaning | +=========+=========+ | 19200 | 19200 | +---------+---------+ | 38400 | 38400 | +---------+---------+ | 57600 | 57600 | +---------+---------+ | 115200 | 115200 | +---------+---------+ | 230400 | 230400 | +---------+---------+ | 460800 | 460800 | +---------+---------+ | 921600 | 921600 | +---------+---------+ | 3686400 | 3686400 | +---------+---------+ .. _LTE_TIMEOUT: LTE\_TIMEOUT: Timeout ~~~~~~~~~~~~~~~~~~~~~ Timeout in seconds for the LTE connection\. If no data is received for this time\, the connection will be reset\. A value of zero disables the timeout +---------+---------+ | Range | Units | +=========+=========+ | 0 to 60 | seconds | +---------+---------+ .. _LTE_PROTOCOL: LTE\_PROTOCOL: LTE protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ The protocol that we will use in communication with the LTE modem\. If this is PPP then the LTE\_SERVER parameters are not used and instead a PPP connection will be established and you should use the NET\_ parameters to enable network ports\. If this is MAVLink2 then the LTE\_SERVER parameters are used to create a TCP or UDP connection to a single server\. +-------+----------+ | Value | Meaning | +=======+==========+ | 2 | MavLink2 | +-------+----------+ | 48 | PPP | +-------+----------+ .. _LTE_OPTIONS: LTE\_OPTIONS: LTE options ~~~~~~~~~~~~~~~~~~~~~~~~~ Options to control the LTE modem driver\. If VerboseSignalInfoGCS is set then additional NAMED\_VALUE\_FLOAT values are sent with verbose signal information +-----+----------------------+ | Bit | Meaning | +=====+======================+ | 0 | LogAllData | +-----+----------------------+ | 1 | VerboseSignalInfoGCS | +-----+----------------------+ | 2 | DisableMultiplexing | +-----+----------------------+ | 3 | DisableSignalQueries | +-----+----------------------+ | 4 | UseTCP | +-----+----------------------+ .. _LTE_IBAUD: LTE\_IBAUD: LTE initial baudrate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the initial baud rate on power on for the modem\. This is set in the modem with the AT\+IREX\=baud command +---------+---------+ | Value | Meaning | +=========+=========+ | 19200 | 19200 | +---------+---------+ | 38400 | 38400 | +---------+---------+ | 57600 | 57600 | +---------+---------+ | 115200 | 115200 | +---------+---------+ | 230400 | 230400 | +---------+---------+ | 460800 | 460800 | +---------+---------+ | 921600 | 921600 | +---------+---------+ | 3686400 | 3686400 | +---------+---------+ .. _LTE_MCCMNC: LTE\_MCCMNC: LTE operator selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This allows selection of network operator +-------+-------------+ | Value | Meaning | +=======+=============+ | -1 | NoChange | +-------+-------------+ | 0 | Default | +-------+-------------+ | 50501 | AU-Telstra | +-------+-------------+ | 50502 | AU-Optus | +-------+-------------+ | 50503 | AU-Vodafone | +-------+-------------+ .. _LTE_TX_RATE: LTE\_TX\_RATE: Max transmit rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum data transmit rate to the modem in bytes\/second\. Use zero for unlimited .. _LTE_BAND: LTE\_BAND: LTE band selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This allows selection of LTE band\. A value of \-1 means no band setting change is made\. A value of 0 sets all bands\. Otherwise the specified band is set\. +----------+ | Range | +==========+ | -1 to 50 | +----------+ .. _ESC_HW_ENABLE: ESC\_HW\_ENABLE: Hobbywing ESC Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable Hobbywing ESC telemetry +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _ESC_HW_POLES: ESC\_HW\_POLES: Hobbywing ESC motor poles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of motor poles for eRPM scaling +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _ESC_HW_OFS: ESC\_HW\_OFS: Hobbywing ESC motor offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Motor number offset of first ESC +---------+ | Range | +=========+ | 0 to 31 | +---------+ .. _TOFSENSE_PRX: TOFSENSE\_PRX: TOFSENSE\-M to be used as Proximity sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Set as Rangefinder | +-------+-------------------------+ | 1 | Set as Proximity sensor | +-------+-------------------------+ .. _TOFSENSE_NO: TOFSENSE\_NO: TOFSENSE\-M Connected ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of TOFSENSE\-M CAN sensors connected +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _TOFSENSE_MODE: TOFSENSE\_MODE: TOFSENSE\-M mode to be used ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ TOFSENSE\-M mode to be used\. 0 for 8x8 mode\. 1 for 4x4 mode +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | 8x8 mode | +-------+----------+ | 1 | 4x4 mode | +-------+----------+ .. _TOFSENSE_INST1: TOFSENSE\_INST1: TOFSENSE\-M First Instance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ First TOFSENSE\-M sensors backend Instance\. Setting this to 1 will pick the first backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _TOFSENSE_ID1: TOFSENSE\_ID1: TOFSENSE\-M First ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ First TOFSENSE\-M sensor ID\. Leave this at 0 to accept all IDs and if only one sensor is present\. You can change ID of sensor from NAssistant Software +----------+ | Range | +==========+ | 1 to 255 | +----------+ .. _TOFSENSE_INST2: TOFSENSE\_INST2: TOFSENSE\-M Second Instance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Second TOFSENSE\-M sensors backend Instance\. Setting this to 2 will pick the second backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _TOFSENSE_ID2: TOFSENSE\_ID2: TOFSENSE\-M Second ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Second TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor from NAssistant Software +----------+ | Range | +==========+ | 1 to 255 | +----------+ .. _TOFSENSE_INST3: TOFSENSE\_INST3: TOFSENSE\-M Third Instance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Third TOFSENSE\-M sensors backend Instance\. Setting this to 3 will pick the second backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _TOFSENSE_ID3: TOFSENSE\_ID3: TOFSENSE\-M Thir ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor from NAssistant Software +----------+ | Range | +==========+ | 1 to 255 | +----------+ .. _TOFSENSE_S1_PRX: TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Set as Rangefinder | +-------+-------------------------+ | 1 | Set as Proximity sensor | +-------+-------------------------+ .. _TOFSENSE_S1_SP: TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. +--------+ | Range | +========+ | 1 to 4 | +--------+ .. _TOFSENSE_S1_BR: TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software .. _parameters_AFS_: AFS\_ Parameters ---------------- .. _AFS_ENABLE: AFS\_ENABLE: Enable Advanced Failsafe ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 .. _AFS_MAN_PIN: AFS\_MAN\_PIN: Manual Pin ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a digital output pin to set high when in manual mode\. See the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. .. _AFS_HB_PIN: AFS\_HB\_PIN: Heartbeat 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\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 49 | BB Blue GP0 pin 4 | +-------+-------------------+ | 50 | AUXOUT1 | +-------+-------------------+ | 51 | AUXOUT2 | +-------+-------------------+ | 52 | AUXOUT3 | +-------+-------------------+ | 53 | AUXOUT4 | +-------+-------------------+ | 54 | AUXOUT5 | +-------+-------------------+ | 55 | AUXOUT6 | +-------+-------------------+ | 57 | BB Blue GP0 pin 3 | +-------+-------------------+ | 113 | BB Blue GP0 pin 6 | +-------+-------------------+ | 116 | BB Blue GP0 pin 5 | +-------+-------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _AFS_WP_COMMS: AFS\_WP\_COMMS: Comms Waypoint ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Waypoint number to navigate to on comms loss .. _AFS_WP_GPS_LOSS: AFS\_WP\_GPS\_LOSS: GPS Loss Waypoint ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Waypoint number to navigate to on GPS lock loss .. _AFS_TERMINATE: AFS\_TERMINATE: Force Terminate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Can be set in flight to force termination of the heartbeat signal .. _AFS_TERM_ACTION: AFS\_TERM\_ACTION: Terminate 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 ArduPilot to handle it here\. Please consult the wiki for more information on the possible values of the parameter .. _AFS_TERM_PIN: AFS\_TERM\_PIN: Terminate Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a digital output pin to set high on flight termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | -1 | Disabled | +-------+-------------------+ | 49 | BB Blue GP0 pin 4 | +-------+-------------------+ | 50 | AUXOUT1 | +-------+-------------------+ | 51 | AUXOUT2 | +-------+-------------------+ | 52 | AUXOUT3 | +-------+-------------------+ | 53 | AUXOUT4 | +-------+-------------------+ | 54 | AUXOUT5 | +-------+-------------------+ | 55 | AUXOUT6 | +-------+-------------------+ | 57 | BB Blue GP0 pin 3 | +-------+-------------------+ | 113 | BB Blue GP0 pin 6 | +-------+-------------------+ | 116 | BB Blue GP0 pin 5 | +-------+-------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _AFS_AMSL_LIMIT: AFS\_AMSL\_LIMIT: 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 | +--------+ .. _AFS_AMSL_ERR_GPS: AFS\_AMSL\_ERR\_GPS: Error margin for GPS based AMSL limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 | +--------+ .. _AFS_QNH_PRESSURE: AFS\_QNH\_PRESSURE: 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 | +=============+ | hectopascal | +-------------+ .. _AFS_MAX_GPS_LOSS: AFS\_MAX\_GPS\_LOSS: Maximum number of GPS loss events ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. .. _AFS_MAX_COM_LOSS: AFS\_MAX\_COM\_LOSS: Maximum number of comms loss events ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. .. _AFS_GEOFENCE: AFS\_GEOFENCE: Enable geofence Advanced Failsafe ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the geofence part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 .. _AFS_RC: AFS\_RC: Enable RC Advanced Failsafe ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the RC part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 .. _AFS_RC_MAN_ONLY: AFS\_RC\_MAN\_ONLY: Enable RC Termination only in manual control modes ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If this parameter is set to 1\, then an RC loss will only cause the plane to terminate in manual control modes\. If it is 0\, then the plane will terminate in any flight mode\. .. _AFS_DUAL_LOSS: AFS\_DUAL\_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the dual loss termination part of the AFS system\. If this parameter is 1 and both GPS and the ground control station fail simultaneously\, this will be considered a \"dual loss\" and cause termination\. .. _AFS_RC_FAIL_TIME: AFS\_RC\_FAIL\_TIME: RC failure time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost\. For the OBC rules this should be \(1\.5\)\. Use 0 to disable\. +---------+ | Units | +=========+ | seconds | +---------+ .. _AFS_MAX_RANGE: AFS\_MAX\_RANGE: Max allowed range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the maximum range of the vehicle in kilometers from first arming\. If the vehicle goes beyond this range then the TERM\_ACTION is performed\. A value of zero disables this feature\. +------------+ | Units | +============+ | kilometers | +------------+ .. _AFS_OPTIONS: AFS\_OPTIONS: AFS options ~~~~~~~~~~~~~~~~~~~~~~~~~ See description for each bitmask bit description +-----+-------------------------------------------------------------------------------------------------------------------+ | Bit | Meaning | +=====+===================================================================================================================+ | 0 | Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) | +-----+-------------------------------------------------------------------------------------------------------------------+ | 1 | Enable AFS for all autonomous modes (not just AUTO) | +-----+-------------------------------------------------------------------------------------------------------------------+ | 2 | Option to not jump to AFS_WP_COMMS if already in the return path | +-----+-------------------------------------------------------------------------------------------------------------------+ .. _AFS_GCS_TIMEOUT: AFS\_GCS\_TIMEOUT: GCS timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The time \(in seconds\) of persistent data link loss before GCS failsafe occurs\. +---------+ | Units | +=========+ | seconds | +---------+ .. _parameters_AHRS_: AHRS\_ Parameters ----------------- .. _AHRS_GPS_GAIN: AHRS\_GPS\_GAIN: AHRS GPS gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls how much to use the GPS to correct the attitude\. This should never be set to zero for a plane as it would result in the plane losing control in turns\. For a plane please use the default value of 1\.0\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.01 | 0.0 to 1.0 | +-----------+------------+ .. _AHRS_GPS_USE: AHRS\_GPS\_USE: AHRS use GPS for DCM navigation and position\-down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. Currently this affects only the DCM\-based AHRS\: the EKF uses GPS according to its own parameters\. A value of 2 means to use GPS for height as well as position \- both in DCM estimation and when determining altitude\-above\-home\. +-------+-------------------------------------+ | Value | Meaning | +=======+=====================================+ | 0 | Disabled | +-------+-------------------------------------+ | 1 | Use GPS for DCM position | +-------+-------------------------------------+ | 2 | Use GPS for DCM position and height | +-------+-------------------------------------+ .. _AHRS_YAW_P: AHRS\_YAW\_P: Yaw P ~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the weight the compass or GPS has on the heading\. A higher value means the heading will track the yaw source \(GPS or compass\) more rapidly\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.01 | 0.1 to 0.4 | +-----------+------------+ .. _AHRS_RP_P: AHRS\_RP\_P: AHRS RP\_P ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls how fast the accelerometers correct the attitude +-----------+------------+ | Increment | Range | +===========+============+ | 0.01 | 0.1 to 0.4 | +-----------+------------+ .. _AHRS_WIND_MAX: AHRS\_WIND\_MAX: Maximum wind ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the maximum allowable difference between ground speed and airspeed\. A value of zero means to use the airspeed as is\. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus\/minus this limit\. See ARSPD\_OPTIONS and ARSPD\_WIND\_MAX to disable airspeed sensors\. +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 1 | 0 to 127 | meters per second | +-----------+----------+-------------------+ .. _AHRS_TRIM_X: AHRS\_TRIM\_X: AHRS Trim Roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Compensates for the roll angle difference between the control board and the frame\. Positive values make the vehicle roll right\. +-----------+--------------------+---------+ | Increment | Range | Units | +===========+====================+=========+ | 0.01 | -0.1745 to +0.1745 | radians | +-----------+--------------------+---------+ .. _AHRS_TRIM_Y: AHRS\_TRIM\_Y: AHRS Trim Pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Compensates for the pitch angle difference between the control board and the frame\. Positive values make the vehicle pitch up\/back\. +-----------+--------------------+---------+ | Increment | Range | Units | +===========+====================+=========+ | 0.01 | -0.1745 to +0.1745 | radians | +-----------+--------------------+---------+ .. _AHRS_TRIM_Z: AHRS\_TRIM\_Z: AHRS Trim Yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Not Used +-----------+--------------------+---------+ | Increment | Range | Units | +===========+====================+=========+ | 0.01 | -0.1745 to +0.1745 | radians | +-----------+--------------------+---------+ .. _AHRS_ORIENTATION: AHRS\_ORIENTATION: Board Orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Overall board orientation relative to the standard orientation for the board type\. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle\. The label for each option is specified in the order of rotations for that orientation\. This option takes affect on next boot\. After changing you will need to re\-level your vehicle\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the AHRS\_CUSTOM\_ROLL\/PIT\/YAW angles for AHRS orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_ROT1\_ROLL\/PIT\/YAW or CUST\_ROT2\_ROLL\/PIT\/YAW angles\. +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | None | +-------+----------------------+ | 1 | Yaw45 | +-------+----------------------+ | 2 | Yaw90 | +-------+----------------------+ | 3 | Yaw135 | +-------+----------------------+ | 4 | Yaw180 | +-------+----------------------+ | 5 | Yaw225 | +-------+----------------------+ | 6 | Yaw270 | +-------+----------------------+ | 7 | Yaw315 | +-------+----------------------+ | 8 | Roll180 | +-------+----------------------+ | 9 | Yaw45Roll180 | +-------+----------------------+ | 10 | Yaw90Roll180 | +-------+----------------------+ | 11 | Yaw135Roll180 | +-------+----------------------+ | 12 | Pitch180 | +-------+----------------------+ | 13 | Yaw225Roll180 | +-------+----------------------+ | 14 | Yaw270Roll180 | +-------+----------------------+ | 15 | Yaw315Roll180 | +-------+----------------------+ | 16 | Roll90 | +-------+----------------------+ | 17 | Yaw45Roll90 | +-------+----------------------+ | 18 | Yaw90Roll90 | +-------+----------------------+ | 19 | Yaw135Roll90 | +-------+----------------------+ | 20 | Roll270 | +-------+----------------------+ | 21 | Yaw45Roll270 | +-------+----------------------+ | 22 | Yaw90Roll270 | +-------+----------------------+ | 23 | Yaw135Roll270 | +-------+----------------------+ | 24 | Pitch90 | +-------+----------------------+ | 25 | Pitch270 | +-------+----------------------+ | 26 | Yaw90Pitch180 | +-------+----------------------+ | 27 | Yaw270Pitch180 | +-------+----------------------+ | 28 | Pitch90Roll90 | +-------+----------------------+ | 29 | Pitch90Roll180 | +-------+----------------------+ | 30 | Pitch90Roll270 | +-------+----------------------+ | 31 | Pitch180Roll90 | +-------+----------------------+ | 32 | Pitch180Roll270 | +-------+----------------------+ | 33 | Pitch270Roll90 | +-------+----------------------+ | 34 | Pitch270Roll180 | +-------+----------------------+ | 35 | Pitch270Roll270 | +-------+----------------------+ | 36 | Yaw90Pitch180Roll90 | +-------+----------------------+ | 37 | Yaw270Roll90 | +-------+----------------------+ | 38 | Yaw293Pitch68Roll180 | +-------+----------------------+ | 39 | Pitch315 | +-------+----------------------+ | 40 | Pitch315Roll90 | +-------+----------------------+ | 42 | Roll45 | +-------+----------------------+ | 43 | Roll315 | +-------+----------------------+ | 100 | Custom 4.1 and older | +-------+----------------------+ | 101 | Custom 1 | +-------+----------------------+ | 102 | Custom 2 | +-------+----------------------+ .. _AHRS_COMP_BETA: AHRS\_COMP\_BETA: AHRS Velocity Complementary Filter Beta Coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the time constant for the cross\-over frequency used to fuse AHRS \(airspeed and heading\) and GPS data to estimate ground velocity\. Time constant is 0\.1\/beta\. A larger time constant will use GPS data less and a small time constant will use air data less\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.01 | 0.001 to 0.5 | +-----------+--------------+ .. _AHRS_GPS_MINSATS: AHRS\_GPS\_MINSATS: AHRS GPS Minimum satellites ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum number of satellites visible to use GPS for velocity based corrections attitude correction\. This defaults to 6\, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _AHRS_EKF_TYPE: AHRS\_EKF\_TYPE: Use NavEKF Kalman filter for attitude and position estimation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls which NavEKF Kalman filter version is used for attitude and position estimation +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disabled | +-------+--------------+ | 2 | Enable EKF2 | +-------+--------------+ | 3 | Enable EKF3 | +-------+--------------+ | 10 | Sim | +-------+--------------+ | 11 | ExternalAHRS | +-------+--------------+ .. _AHRS_OPTIONS: AHRS\_OPTIONS: Optional AHRS behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency\. Setting AutoRecordOrigin will auto\-save the EKF origin to parameters when it becomes valid\. +-----+-----------------------------+ | Bit | Meaning | +=====+=============================+ | 0 | DisableDCMFallbackFW | +-----+-----------------------------+ | 1 | DisableDCMFallbackVTOL | +-----+-----------------------------+ | 2 | DontDisableAirspeedUsingEKF | +-----+-----------------------------+ | 3 | RecordOrigin | +-----+-----------------------------+ | 4 | UseRecordedOriginForNonGPS | +-----+-----------------------------+ .. _AHRS_ORIGIN_LAT: AHRS\_ORIGIN\_LAT: AHRS last origin latitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* AHRS last origin latitude in degrees +-----------+-------------+ | Increment | Range | +===========+=============+ | 1 | -180 to 180 | +-----------+-------------+ .. _AHRS_ORIGIN_LON: AHRS\_ORIGIN\_LON: AHRS last origin longitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* AHRS last origin longitude in degrees +-------------+ | Range | +=============+ | -180 to 180 | +-------------+ .. _AHRS_ORIGIN_ALT: AHRS\_ORIGIN\_ALT: AHRS last origin altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* AHRS last origin altitude in meters +--------------+ | Range | +==============+ | -200 to 5000 | +--------------+ .. _parameters_AIS_: AIS\_ Parameters ---------------- .. _AIS_TYPE: AIS\_TYPE: AIS receiver type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* AIS receiver type +-------+--------------------+ | Value | Meaning | +=======+====================+ | 0 | None | +-------+--------------------+ | 1 | NMEA AIVDM message | +-------+--------------------+ .. _AIS_LIST_MAX: AIS\_LIST\_MAX: AIS vessel list size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* AIS list size of nearest vessels\. Longer lists take longer to refresh with lower SRx\_ADSB values\. +----------+ | Range | +==========+ | 1 to 100 | +----------+ .. _AIS_TIME_OUT: AIS\_TIME\_OUT: AIS vessel time out ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* if no updates are received in this time a vessel will be removed from the list +-----------+---------+ | Range | Units | +===========+=========+ | 1 to 2000 | seconds | +-----------+---------+ .. _AIS_LOGGING: AIS\_LOGGING: AIS logging options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of AIS logging options +-----+-------------------------------------+ | Bit | Meaning | +=====+=====================================+ | 0 | Log all AIVDM messages | +-----+-------------------------------------+ | 1 | Log only unsupported AIVDM messages | +-----+-------------------------------------+ | 2 | Log decoded messages | +-----+-------------------------------------+ .. _parameters_ARMING_: ARMING\_ Parameters ------------------- .. _ARMING_REQUIRE: ARMING\_REQUIRE: Require Arming Motors ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Arming disabled until some requirements are met\. If 0\, there are no requirements \(arm immediately\)\. If 1\, all checks not skipped by ARMING\_SKIPCHK must pass before the vehicle can be armed \(for example\, via rudder stick or GCS command\)\. If 3\, Arm immediately once pre\-arm\/arm checks are satisfied\, but only one time per boot up\. Note that a reboot is NOT required when setting to 0 but IS require when setting to 3\. +-------+-----------------------------------------+ | Value | Meaning | +=======+=========================================+ | 0 | No | +-------+-----------------------------------------+ | 1 | Yes(minimum PWM when disarmed) | +-------+-----------------------------------------+ | 3 | No(AutoArmOnce after checks are passed) | +-------+-----------------------------------------+ .. _ARMING_ACCTHRESH: ARMING\_ACCTHRESH: Accelerometer error threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\. +-------------+--------------------------+ | Range | Units | +=============+==========================+ | 0.25 to 3.0 | meters per square second | +-------------+--------------------------+ .. _ARMING_RUDDER: ARMING\_RUDDER: Arming with Rudder enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works with throttle at zero \+\- deadzone \(RCx\_DZ\)\. Depending on vehicle type\, arming in certain modes is prevented\. See the wiki for each vehicle\. Caution is recommended when arming if it is allowed in an auto\-throttle mode\! +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Disabled | +-------+-------------+ | 1 | ArmingOnly | +-------+-------------+ | 2 | ArmOrDisarm | +-------+-------------+ .. _ARMING_MIS_ITEMS: ARMING\_MIS\_ITEMS: Required mission items ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of mission items that are required to be planned in order to arm the aircraft +-----+---------------+ | Bit | Meaning | +=====+===============+ | 0 | Land | +-----+---------------+ | 1 | VTOL Land | +-----+---------------+ | 2 | DO_LAND_START | +-----+---------------+ | 3 | Takeoff | +-----+---------------+ | 4 | VTOL Takeoff | +-----+---------------+ | 5 | Rallypoint | +-----+---------------+ | 6 | RTL | +-----+---------------+ .. _ARMING_OPTIONS: ARMING\_OPTIONS: Arming options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Options that can be applied to change arming behaviour +-----+----------------------------------------------------+ | Bit | Meaning | +=====+====================================================+ | 0 | Disable prearm display | +-----+----------------------------------------------------+ | 1 | Do not send status text on state change | +-----+----------------------------------------------------+ | 2 | Skip IMU consistency checks when ICE motor running | +-----+----------------------------------------------------+ .. _ARMING_MAGTHRESH: ARMING\_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compass magnetic field strength error threshold vs earth magnetic model\. X and y axis are compared using this threhold\, Z axis uses 2x this threshold\. 0 to disable check +----------+------------+ | Range | Units | +==========+============+ | 0 to 500 | milligauss | +----------+------------+ .. _ARMING_CRSDP_IGN: ARMING\_CRSDP\_IGN: Disable CrashDump Arming check ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Must have value \"1\" if crashdump data is present on the system\, or a prearm failure will be raised\. Do not set this parameter unless the risks of doing so are fully understood\. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting\. The crashdump file gives diagnostic information which can help in finding the issue\, please contact the ArduPIlot support team\. If this crashdump data is present\, the vehicle is likely unsafe to fly\. Check the ArduPilot documentation for more details\. +-------+-------------------------------------+ | Value | Meaning | +=======+=====================================+ | 0 | Crash Dump arming check active | +-------+-------------------------------------+ | 1 | Crash Dump arming check deactivated | +-------+-------------------------------------+ .. _ARMING_NEED_LOC: ARMING\_NEED\_LOC: Require vehicle location ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Require that the vehicle have an absolute position before it arms\. This can help ensure that the vehicle can Return To Launch\. +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Do not require location | +-------+-------------------------+ | 1 | Require Location | +-------+-------------------------+ .. _ARMING_SKIPCHK: ARMING\_SKIPCHK: Arm Checks to Skip \(bitmask\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Checks to skip prior to arming motor\. This is a bitmask of checks before allowing arming that will be skipped\. For most users it is recommended to leave this at the default of 0 \(no checks skipped\)\. In extreme circumstances\, a value of \-1 can be used to skip all non\-mandatory current and future checks\. +-----+------------------------+ | Bit | Meaning | +=====+========================+ | 1 | Barometer | +-----+------------------------+ | 2 | Compass | +-----+------------------------+ | 3 | GPS lock | +-----+------------------------+ | 4 | INS | +-----+------------------------+ | 5 | Parameters | +-----+------------------------+ | 6 | RC Channels | +-----+------------------------+ | 7 | Board voltage | +-----+------------------------+ | 8 | Battery Level | +-----+------------------------+ | 10 | Logging Available | +-----+------------------------+ | 11 | Hardware safety switch | +-----+------------------------+ | 12 | GPS Configuration | +-----+------------------------+ | 13 | System | +-----+------------------------+ | 14 | Mission | +-----+------------------------+ | 15 | Rangefinder | +-----+------------------------+ | 16 | Camera | +-----+------------------------+ | 17 | AuxAuth | +-----+------------------------+ | 18 | VisualOdometry | +-----+------------------------+ | 19 | FFT | +-----+------------------------+ .. _parameters_ARSPD: ARSPD Parameters ---------------- .. _ARSPD_ENABLE: ARSPD\_ENABLE: Airspeed Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable airspeed sensor support +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _ARSPD_TUBE_ORDER: ARSPD\_TUBE\_ORDER: Control pitot 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 first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Normal | +-------+-------------+ | 1 | Swapped | +-------+-------------+ | 2 | Auto Detect | +-------+-------------+ .. _ARSPD_PRIMARY: ARSPD\_PRIMARY: Primary airspeed sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This selects which airspeed sensor will be the primary if multiple sensors are found +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | FirstSensor | +-------+-------------+ | 1 | 2nd Sensor | +-------+-------------+ | 2 | 3rd Sensor | +-------+-------------+ | 3 | 4th Sensor | +-------+-------------+ | 4 | 5th Sensor | +-------+-------------+ | 5 | 6th Sensor | +-------+-------------+ .. _ARSPD_OPTIONS: ARSPD\_OPTIONS: Airspeed options bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter and function is not used by this vehicle\. Always set to 0\. +-----+----------------------------+ | Bit | Meaning | +=====+============================+ | 0 | SpeedMismatchDisable | +-----+----------------------------+ | 1 | AllowSpeedMismatchRecovery | +-----+----------------------------+ | 2 | DisableVoltageCorrection | +-----+----------------------------+ | 3 | UseEkf3Consistency | +-----+----------------------------+ | 4 | ReportOffset | +-----+----------------------------+ .. _ARSPD_WIND_MAX: ARSPD\_WIND\_MAX: Maximum airspeed and ground speed difference ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter and function is not used by this vehicle\. Always set to 0\. +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _ARSPD_WIND_WARN: ARSPD\_WIND\_WARN: Airspeed and GPS speed difference that gives a warning ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter and function is not used by this vehicle\. Always set to 0\. +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _ARSPD_WIND_GATE: ARSPD\_WIND\_GATE: Re\-enable Consistency Check Gate Size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter and function is not used by this vehicle\. +-------------+ | Range | +=============+ | 0.0 to 10.0 | +-------------+ .. _parameters_ARSPD2_: ARSPD2\_ Parameters ------------------- .. _ARSPD2_TYPE: ARSPD2\_TYPE: Airspeed type ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of airspeed sensor +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | None | +-------+-------------------+ | 1 | I2C-MS4525D0 | +-------+-------------------+ | 2 | Analog | +-------+-------------------+ | 3 | I2C-MS5525 | +-------+-------------------+ | 4 | I2C-MS5525 (0x76) | +-------+-------------------+ | 5 | I2C-MS5525 (0x77) | +-------+-------------------+ | 6 | I2C-SDP3X | +-------+-------------------+ | 7 | I2C-DLVR-5in | +-------+-------------------+ | 8 | DroneCAN | +-------+-------------------+ | 9 | I2C-DLVR-10in | +-------+-------------------+ | 10 | I2C-DLVR-20in | +-------+-------------------+ | 11 | I2C-DLVR-30in | +-------+-------------------+ | 12 | I2C-DLVR-60in | +-------+-------------------+ | 13 | NMEA water speed | +-------+-------------------+ | 14 | MSP | +-------+-------------------+ | 15 | ASP5033 | +-------+-------------------+ | 16 | ExternalAHRS | +-------+-------------------+ | 17 | AUAV-10in | +-------+-------------------+ | 18 | AUAV-5in | +-------+-------------------+ | 19 | AUAV-30in | +-------+-------------------+ | 20 | Scripting | +-------+-------------------+ | 100 | SITL | +-------+-------------------+ .. _ARSPD2_USE: ARSPD2\_USE: Airspeed use ~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter is not used by this vehicle\. Always set to 0\. +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | DoNotUse | +-------+---------------------+ | 1 | Use | +-------+---------------------+ | 2 | UseWhenZeroThrottle | +-------+---------------------+ .. _ARSPD2_OFFSET: ARSPD2\_OFFSET: Airspeed offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed calibration offset +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD2_RATIO: ARSPD2\_RATIO: Airspeed ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD2_PIN: ARSPD2\_PIN: Airspeed pin ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _ARSPD2_AUTOCAL: ARSPD2\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. .. _ARSPD2_TUBE_ORDR: ARSPD2\_TUBE\_ORDR: Control pitot 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 first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Normal | +-------+-------------+ | 1 | Swapped | +-------+-------------+ | 2 | Auto Detect | +-------+-------------+ .. _ARSPD2_SKIP_CAL: ARSPD2\_SKIP\_CAL: Skip airspeed offset calibration on startup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration or requiring a manual calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. +-------+---------------------------------------------------------------------------------------------------------------+ | Value | Meaning | +=======+===============================================================================================================+ | 0 | Disable | +-------+---------------------------------------------------------------------------------------------------------------+ | 1 | Do not require offset calibration before flight. Manual calibration should be performed during initial setup. | +-------+---------------------------------------------------------------------------------------------------------------+ | 2 | Do not calibrate on start up. Manual calibration must be performed once per boot. | +-------+---------------------------------------------------------------------------------------------------------------+ .. _ARSPD2_PSI_RANGE: ARSPD2\_PSI\_RANGE: The PSI range of the device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device .. _ARSPD2_BUS: ARSPD2\_BUS: Airspeed I2C bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Bus0 | +-------+---------+ | 1 | Bus1 | +-------+---------+ | 2 | Bus2 | +-------+---------+ | 3 | Bus3 | +-------+---------+ .. _ARSPD2_DEVID: ARSPD2\_DEVID: Airspeed ID ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_ARSPD3_: ARSPD3\_ Parameters ------------------- .. _ARSPD3_TYPE: ARSPD3\_TYPE: Airspeed type ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of airspeed sensor +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | None | +-------+-------------------+ | 1 | I2C-MS4525D0 | +-------+-------------------+ | 2 | Analog | +-------+-------------------+ | 3 | I2C-MS5525 | +-------+-------------------+ | 4 | I2C-MS5525 (0x76) | +-------+-------------------+ | 5 | I2C-MS5525 (0x77) | +-------+-------------------+ | 6 | I2C-SDP3X | +-------+-------------------+ | 7 | I2C-DLVR-5in | +-------+-------------------+ | 8 | DroneCAN | +-------+-------------------+ | 9 | I2C-DLVR-10in | +-------+-------------------+ | 10 | I2C-DLVR-20in | +-------+-------------------+ | 11 | I2C-DLVR-30in | +-------+-------------------+ | 12 | I2C-DLVR-60in | +-------+-------------------+ | 13 | NMEA water speed | +-------+-------------------+ | 14 | MSP | +-------+-------------------+ | 15 | ASP5033 | +-------+-------------------+ | 16 | ExternalAHRS | +-------+-------------------+ | 17 | AUAV-10in | +-------+-------------------+ | 18 | AUAV-5in | +-------+-------------------+ | 19 | AUAV-30in | +-------+-------------------+ | 20 | Scripting | +-------+-------------------+ | 100 | SITL | +-------+-------------------+ .. _ARSPD3_USE: ARSPD3\_USE: Airspeed use ~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter is not used by this vehicle\. Always set to 0\. +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | DoNotUse | +-------+---------------------+ | 1 | Use | +-------+---------------------+ | 2 | UseWhenZeroThrottle | +-------+---------------------+ .. _ARSPD3_OFFSET: ARSPD3\_OFFSET: Airspeed offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed calibration offset +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD3_RATIO: ARSPD3\_RATIO: Airspeed ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD3_PIN: ARSPD3\_PIN: Airspeed pin ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _ARSPD3_AUTOCAL: ARSPD3\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. .. _ARSPD3_TUBE_ORDR: ARSPD3\_TUBE\_ORDR: Control pitot 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 first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Normal | +-------+-------------+ | 1 | Swapped | +-------+-------------+ | 2 | Auto Detect | +-------+-------------+ .. _ARSPD3_SKIP_CAL: ARSPD3\_SKIP\_CAL: Skip airspeed offset calibration on startup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration or requiring a manual calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. +-------+---------------------------------------------------------------------------------------------------------------+ | Value | Meaning | +=======+===============================================================================================================+ | 0 | Disable | +-------+---------------------------------------------------------------------------------------------------------------+ | 1 | Do not require offset calibration before flight. Manual calibration should be performed during initial setup. | +-------+---------------------------------------------------------------------------------------------------------------+ | 2 | Do not calibrate on start up. Manual calibration must be performed once per boot. | +-------+---------------------------------------------------------------------------------------------------------------+ .. _ARSPD3_PSI_RANGE: ARSPD3\_PSI\_RANGE: The PSI range of the device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device .. _ARSPD3_BUS: ARSPD3\_BUS: Airspeed I2C bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Bus0 | +-------+---------+ | 1 | Bus1 | +-------+---------+ | 2 | Bus2 | +-------+---------+ | 3 | Bus3 | +-------+---------+ .. _ARSPD3_DEVID: ARSPD3\_DEVID: Airspeed ID ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_ARSPD4_: ARSPD4\_ Parameters ------------------- .. _ARSPD4_TYPE: ARSPD4\_TYPE: Airspeed type ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of airspeed sensor +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | None | +-------+-------------------+ | 1 | I2C-MS4525D0 | +-------+-------------------+ | 2 | Analog | +-------+-------------------+ | 3 | I2C-MS5525 | +-------+-------------------+ | 4 | I2C-MS5525 (0x76) | +-------+-------------------+ | 5 | I2C-MS5525 (0x77) | +-------+-------------------+ | 6 | I2C-SDP3X | +-------+-------------------+ | 7 | I2C-DLVR-5in | +-------+-------------------+ | 8 | DroneCAN | +-------+-------------------+ | 9 | I2C-DLVR-10in | +-------+-------------------+ | 10 | I2C-DLVR-20in | +-------+-------------------+ | 11 | I2C-DLVR-30in | +-------+-------------------+ | 12 | I2C-DLVR-60in | +-------+-------------------+ | 13 | NMEA water speed | +-------+-------------------+ | 14 | MSP | +-------+-------------------+ | 15 | ASP5033 | +-------+-------------------+ | 16 | ExternalAHRS | +-------+-------------------+ | 17 | AUAV-10in | +-------+-------------------+ | 18 | AUAV-5in | +-------+-------------------+ | 19 | AUAV-30in | +-------+-------------------+ | 20 | Scripting | +-------+-------------------+ | 100 | SITL | +-------+-------------------+ .. _ARSPD4_USE: ARSPD4\_USE: Airspeed use ~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter is not used by this vehicle\. Always set to 0\. +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | DoNotUse | +-------+---------------------+ | 1 | Use | +-------+---------------------+ | 2 | UseWhenZeroThrottle | +-------+---------------------+ .. _ARSPD4_OFFSET: ARSPD4\_OFFSET: Airspeed offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed calibration offset +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD4_RATIO: ARSPD4\_RATIO: Airspeed ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD4_PIN: ARSPD4\_PIN: Airspeed pin ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _ARSPD4_AUTOCAL: ARSPD4\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. .. _ARSPD4_TUBE_ORDR: ARSPD4\_TUBE\_ORDR: Control pitot 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 first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Normal | +-------+-------------+ | 1 | Swapped | +-------+-------------+ | 2 | Auto Detect | +-------+-------------+ .. _ARSPD4_SKIP_CAL: ARSPD4\_SKIP\_CAL: Skip airspeed offset calibration on startup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration or requiring a manual calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. +-------+---------------------------------------------------------------------------------------------------------------+ | Value | Meaning | +=======+===============================================================================================================+ | 0 | Disable | +-------+---------------------------------------------------------------------------------------------------------------+ | 1 | Do not require offset calibration before flight. Manual calibration should be performed during initial setup. | +-------+---------------------------------------------------------------------------------------------------------------+ | 2 | Do not calibrate on start up. Manual calibration must be performed once per boot. | +-------+---------------------------------------------------------------------------------------------------------------+ .. _ARSPD4_PSI_RANGE: ARSPD4\_PSI\_RANGE: The PSI range of the device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device .. _ARSPD4_BUS: ARSPD4\_BUS: Airspeed I2C bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Bus0 | +-------+---------+ | 1 | Bus1 | +-------+---------+ | 2 | Bus2 | +-------+---------+ | 3 | Bus3 | +-------+---------+ .. _ARSPD4_DEVID: ARSPD4\_DEVID: Airspeed ID ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_ARSPD5_: ARSPD5\_ Parameters ------------------- .. _ARSPD5_TYPE: ARSPD5\_TYPE: Airspeed type ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of airspeed sensor +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | None | +-------+-------------------+ | 1 | I2C-MS4525D0 | +-------+-------------------+ | 2 | Analog | +-------+-------------------+ | 3 | I2C-MS5525 | +-------+-------------------+ | 4 | I2C-MS5525 (0x76) | +-------+-------------------+ | 5 | I2C-MS5525 (0x77) | +-------+-------------------+ | 6 | I2C-SDP3X | +-------+-------------------+ | 7 | I2C-DLVR-5in | +-------+-------------------+ | 8 | DroneCAN | +-------+-------------------+ | 9 | I2C-DLVR-10in | +-------+-------------------+ | 10 | I2C-DLVR-20in | +-------+-------------------+ | 11 | I2C-DLVR-30in | +-------+-------------------+ | 12 | I2C-DLVR-60in | +-------+-------------------+ | 13 | NMEA water speed | +-------+-------------------+ | 14 | MSP | +-------+-------------------+ | 15 | ASP5033 | +-------+-------------------+ | 16 | ExternalAHRS | +-------+-------------------+ | 17 | AUAV-10in | +-------+-------------------+ | 18 | AUAV-5in | +-------+-------------------+ | 19 | AUAV-30in | +-------+-------------------+ | 20 | Scripting | +-------+-------------------+ | 100 | SITL | +-------+-------------------+ .. _ARSPD5_USE: ARSPD5\_USE: Airspeed use ~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter is not used by this vehicle\. Always set to 0\. +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | DoNotUse | +-------+---------------------+ | 1 | Use | +-------+---------------------+ | 2 | UseWhenZeroThrottle | +-------+---------------------+ .. _ARSPD5_OFFSET: ARSPD5\_OFFSET: Airspeed offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed calibration offset +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD5_RATIO: ARSPD5\_RATIO: Airspeed ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD5_PIN: ARSPD5\_PIN: Airspeed pin ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _ARSPD5_AUTOCAL: ARSPD5\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. .. _ARSPD5_TUBE_ORDR: ARSPD5\_TUBE\_ORDR: Control pitot 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 first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Normal | +-------+-------------+ | 1 | Swapped | +-------+-------------+ | 2 | Auto Detect | +-------+-------------+ .. _ARSPD5_SKIP_CAL: ARSPD5\_SKIP\_CAL: Skip airspeed offset calibration on startup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration or requiring a manual calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. +-------+---------------------------------------------------------------------------------------------------------------+ | Value | Meaning | +=======+===============================================================================================================+ | 0 | Disable | +-------+---------------------------------------------------------------------------------------------------------------+ | 1 | Do not require offset calibration before flight. Manual calibration should be performed during initial setup. | +-------+---------------------------------------------------------------------------------------------------------------+ | 2 | Do not calibrate on start up. Manual calibration must be performed once per boot. | +-------+---------------------------------------------------------------------------------------------------------------+ .. _ARSPD5_PSI_RANGE: ARSPD5\_PSI\_RANGE: The PSI range of the device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device .. _ARSPD5_BUS: ARSPD5\_BUS: Airspeed I2C bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Bus0 | +-------+---------+ | 1 | Bus1 | +-------+---------+ | 2 | Bus2 | +-------+---------+ | 3 | Bus3 | +-------+---------+ .. _ARSPD5_DEVID: ARSPD5\_DEVID: Airspeed ID ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_ARSPD6_: ARSPD6\_ Parameters ------------------- .. _ARSPD6_TYPE: ARSPD6\_TYPE: Airspeed type ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of airspeed sensor +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | None | +-------+-------------------+ | 1 | I2C-MS4525D0 | +-------+-------------------+ | 2 | Analog | +-------+-------------------+ | 3 | I2C-MS5525 | +-------+-------------------+ | 4 | I2C-MS5525 (0x76) | +-------+-------------------+ | 5 | I2C-MS5525 (0x77) | +-------+-------------------+ | 6 | I2C-SDP3X | +-------+-------------------+ | 7 | I2C-DLVR-5in | +-------+-------------------+ | 8 | DroneCAN | +-------+-------------------+ | 9 | I2C-DLVR-10in | +-------+-------------------+ | 10 | I2C-DLVR-20in | +-------+-------------------+ | 11 | I2C-DLVR-30in | +-------+-------------------+ | 12 | I2C-DLVR-60in | +-------+-------------------+ | 13 | NMEA water speed | +-------+-------------------+ | 14 | MSP | +-------+-------------------+ | 15 | ASP5033 | +-------+-------------------+ | 16 | ExternalAHRS | +-------+-------------------+ | 17 | AUAV-10in | +-------+-------------------+ | 18 | AUAV-5in | +-------+-------------------+ | 19 | AUAV-30in | +-------+-------------------+ | 20 | Scripting | +-------+-------------------+ | 100 | SITL | +-------+-------------------+ .. _ARSPD6_USE: ARSPD6\_USE: Airspeed use ~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter is not used by this vehicle\. Always set to 0\. +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | DoNotUse | +-------+---------------------+ | 1 | Use | +-------+---------------------+ | 2 | UseWhenZeroThrottle | +-------+---------------------+ .. _ARSPD6_OFFSET: ARSPD6\_OFFSET: Airspeed offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed calibration offset +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD6_RATIO: ARSPD6\_RATIO: Airspeed ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD6_PIN: ARSPD6\_PIN: Airspeed pin ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _ARSPD6_AUTOCAL: ARSPD6\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. .. _ARSPD6_TUBE_ORDR: ARSPD6\_TUBE\_ORDR: Control pitot 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 first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Normal | +-------+-------------+ | 1 | Swapped | +-------+-------------+ | 2 | Auto Detect | +-------+-------------+ .. _ARSPD6_SKIP_CAL: ARSPD6\_SKIP\_CAL: Skip airspeed offset calibration on startup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration or requiring a manual calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. +-------+---------------------------------------------------------------------------------------------------------------+ | Value | Meaning | +=======+===============================================================================================================+ | 0 | Disable | +-------+---------------------------------------------------------------------------------------------------------------+ | 1 | Do not require offset calibration before flight. Manual calibration should be performed during initial setup. | +-------+---------------------------------------------------------------------------------------------------------------+ | 2 | Do not calibrate on start up. Manual calibration must be performed once per boot. | +-------+---------------------------------------------------------------------------------------------------------------+ .. _ARSPD6_PSI_RANGE: ARSPD6\_PSI\_RANGE: The PSI range of the device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device .. _ARSPD6_BUS: ARSPD6\_BUS: Airspeed I2C bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Bus0 | +-------+---------+ | 1 | Bus1 | +-------+---------+ | 2 | Bus2 | +-------+---------+ | 3 | Bus3 | +-------+---------+ .. _ARSPD6_DEVID: ARSPD6\_DEVID: Airspeed ID ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_ARSPD_: ARSPD\_ Parameters ------------------ .. _ARSPD_TYPE: ARSPD\_TYPE: Airspeed type ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of airspeed sensor +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | None | +-------+-------------------+ | 1 | I2C-MS4525D0 | +-------+-------------------+ | 2 | Analog | +-------+-------------------+ | 3 | I2C-MS5525 | +-------+-------------------+ | 4 | I2C-MS5525 (0x76) | +-------+-------------------+ | 5 | I2C-MS5525 (0x77) | +-------+-------------------+ | 6 | I2C-SDP3X | +-------+-------------------+ | 7 | I2C-DLVR-5in | +-------+-------------------+ | 8 | DroneCAN | +-------+-------------------+ | 9 | I2C-DLVR-10in | +-------+-------------------+ | 10 | I2C-DLVR-20in | +-------+-------------------+ | 11 | I2C-DLVR-30in | +-------+-------------------+ | 12 | I2C-DLVR-60in | +-------+-------------------+ | 13 | NMEA water speed | +-------+-------------------+ | 14 | MSP | +-------+-------------------+ | 15 | ASP5033 | +-------+-------------------+ | 16 | ExternalAHRS | +-------+-------------------+ | 17 | AUAV-10in | +-------+-------------------+ | 18 | AUAV-5in | +-------+-------------------+ | 19 | AUAV-30in | +-------+-------------------+ | 20 | Scripting | +-------+-------------------+ | 100 | SITL | +-------+-------------------+ .. _ARSPD_USE: ARSPD\_USE: Airspeed use ~~~~~~~~~~~~~~~~~~~~~~~~ This parameter is not used by this vehicle\. Always set to 0\. +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | DoNotUse | +-------+---------------------+ | 1 | Use | +-------+---------------------+ | 2 | UseWhenZeroThrottle | +-------+---------------------+ .. _ARSPD_OFFSET: ARSPD\_OFFSET: Airspeed offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed calibration offset +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD_RATIO: ARSPD\_RATIO: Airspeed ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _ARSPD_PIN: ARSPD\_PIN: Airspeed pin ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _ARSPD_AUTOCAL: ARSPD\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. .. _ARSPD_TUBE_ORDR: ARSPD\_TUBE\_ORDR: Control pitot 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 first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Normal | +-------+-------------+ | 1 | Swapped | +-------+-------------+ | 2 | Auto Detect | +-------+-------------+ .. _ARSPD_SKIP_CAL: ARSPD\_SKIP\_CAL: Skip airspeed offset calibration on startup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration or requiring a manual calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. +-------+---------------------------------------------------------------------------------------------------------------+ | Value | Meaning | +=======+===============================================================================================================+ | 0 | Disable | +-------+---------------------------------------------------------------------------------------------------------------+ | 1 | Do not require offset calibration before flight. Manual calibration should be performed during initial setup. | +-------+---------------------------------------------------------------------------------------------------------------+ | 2 | Do not calibrate on start up. Manual calibration must be performed once per boot. | +-------+---------------------------------------------------------------------------------------------------------------+ .. _ARSPD_PSI_RANGE: ARSPD\_PSI\_RANGE: The PSI range of the device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device .. _ARSPD_BUS: ARSPD\_BUS: Airspeed I2C bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Bus0 | +-------+---------+ | 1 | Bus1 | +-------+---------+ | 2 | Bus2 | +-------+---------+ | 3 | Bus3 | +-------+---------+ .. _ARSPD_DEVID: ARSPD\_DEVID: Airspeed ID ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_ATC: ATC Parameters -------------- .. _ATC_STR_RAT_P: ATC\_STR\_RAT\_P: Steering control rate P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control rate P gain\. Converts the turn rate error \(in radians\/sec\) to a steering control output \(in the range \-1 to \+1\) +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 2.000 | +-----------+----------------+ .. _ATC_STR_RAT_I: ATC\_STR\_RAT\_I: Steering control I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control I gain\. Corrects long term error between the desired turn rate \(in rad\/s\) and actual +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 2.000 | +-----------+----------------+ .. _ATC_STR_RAT_IMAX: ATC\_STR\_RAT\_IMAX: Steering control I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control I gain maximum\. Constrains the steering output \(range \-1 to \+1\) that the I term will generate +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 1.000 | +-----------+----------------+ .. _ATC_STR_RAT_D: ATC\_STR\_RAT\_D: Steering control D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control D gain\. Compensates for short\-term change in desired turn rate vs actual +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.400 | +-----------+----------------+ .. _ATC_STR_RAT_FF: ATC\_STR\_RAT\_FF: Steering control feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control feed forward +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 3.000 | +-----------+----------------+ .. _ATC_STR_RAT_FLTT: ATC\_STR\_RAT\_FLTT: Steering control Target filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Target filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_STR_RAT_FLTE: ATC\_STR\_RAT\_FLTE: Steering control Error filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Error filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_STR_RAT_FLTD: ATC\_STR\_RAT\_FLTD: Steering control Derivative term filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Derivative filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_STR_RAT_SMAX: ATC\_STR\_RAT\_SMAX: Steering slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _ATC_STR_RAT_PDMX: ATC\_STR\_RAT\_PDMX: Steering control PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 1.000 | +-----------+----------------+ .. _ATC_STR_RAT_D_FF: ATC\_STR\_RAT\_D\_FF: Steering control Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.001 | 0 to 0.03 | +-----------+-----------+ .. _ATC_STR_RAT_NTF: ATC\_STR\_RAT\_NTF: Steering control Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Steering control Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _ATC_STR_RAT_NEF: ATC\_STR\_RAT\_NEF: Steering control Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Steering control Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _ATC_SPEED_P: ATC\_SPEED\_P: Speed control P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control P gain\. Converts the error between the desired speed \(in m\/s\) and actual speed to a motor output \(in the range \-1 to \+1\) +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.010 to 2.000 | +-----------+----------------+ .. _ATC_SPEED_I: ATC\_SPEED\_I: Speed control I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control I gain\. Corrects long term error between the desired speed \(in m\/s\) and actual speed +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 2.000 | +-----------+----------------+ .. _ATC_SPEED_IMAX: ATC\_SPEED\_IMAX: Speed control I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control I gain maximum\. Constrains the maximum motor output \(range \-1 to \+1\) that the I term will generate +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 1.000 | +-----------+----------------+ .. _ATC_SPEED_D: ATC\_SPEED\_D: Speed control D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control D gain\. Compensates for short\-term change in desired speed vs actual +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.400 | +-----------+----------------+ .. _ATC_SPEED_FF: ATC\_SPEED\_FF: Speed control feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control feed forward +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.500 | +-----------+----------------+ .. _ATC_SPEED_FLTT: ATC\_SPEED\_FLTT: Speed control Target filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Target filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_SPEED_FLTE: ATC\_SPEED\_FLTE: Speed control Error filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Error filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_SPEED_FLTD: ATC\_SPEED\_FLTD: Speed control Derivative term filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Derivative filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_SPEED_SMAX: ATC\_SPEED\_SMAX: Speed control slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _ATC_SPEED_PDMX: ATC\_SPEED\_PDMX: Speed control PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 1.000 | +-----------+----------------+ .. _ATC_SPEED_D_FF: ATC\_SPEED\_D\_FF: Speed control Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.001 | 0 to 0.03 | +-----------+-----------+ .. _ATC_SPEED_NTF: ATC\_SPEED\_NTF: Speed control Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Speed control Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _ATC_SPEED_NEF: ATC\_SPEED\_NEF: Speed control Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Speed control Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _ATC_ACCEL_MAX: ATC\_ACCEL\_MAX: Speed control acceleration \(and deceleration\) maximum in m\/s\/s ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control acceleration \(and deceleration\) maximum in m\/s\/s\. 0 to disable acceleration limiting +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.1 | 0.0 to 10.0 | meters per square second | +-----------+-------------+--------------------------+ .. _ATC_BRAKE: ATC\_BRAKE: Speed control brake enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control brake enable\/disable\. Allows sending a reversed output to the motors to slow the vehicle\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _ATC_STOP_SPEED: ATC\_STOP\_SPEED: Speed control stop speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control stop speed\. Motor outputs to zero once vehicle speed falls below this value +-----------+--------------+-------------------+ | Increment | Range | Units | +===========+==============+===================+ | 0.01 | 0.00 to 0.50 | meters per second | +-----------+--------------+-------------------+ .. _ATC_STR_ANG_P: ATC\_STR\_ANG\_P: Steering control angle P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control angle P gain\. Converts the error between the desired heading\/yaw \(in radians\) and actual heading\/yaw to a desired turn rate \(in rad\/sec\) +-----------+-----------------+ | Increment | Range | +===========+=================+ | 0.1 | 1.000 to 10.000 | +-----------+-----------------+ .. _ATC_STR_ACC_MAX: ATC\_STR\_ACC\_MAX: Steering control angular acceleration maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control angular acceleration maximum \(in deg\/s\/s\)\. 0 to disable acceleration limiting +-----------+-----------+---------------------------+ | Increment | Range | Units | +===========+===========+===========================+ | 0.1 | 0 to 1000 | degrees per square second | +-----------+-----------+---------------------------+ .. _ATC_STR_RAT_MAX: ATC\_STR\_RAT\_MAX: Steering control rotation rate maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control rotation rate maximum in deg\/s\. 0 to remove rate limiting +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 0.1 | 0 to 1000 | degrees per second | +-----------+-----------+--------------------+ .. _ATC_DECEL_MAX: ATC\_DECEL\_MAX: Speed control deceleration maximum in m\/s\/s ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed control and deceleration maximum in m\/s\/s\. 0 to use ATC\_ACCEL\_MAX for deceleration +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.1 | 0.0 to 10.0 | meters per square second | +-----------+-------------+--------------------------+ .. _ATC_BAL_P: ATC\_BAL\_P: Pitch control P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control P gain for BalanceBots\. Converts the error between the desired pitch \(in radians\) and actual pitch to a motor output \(in the range \-1 to \+1\) +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 2.000 | +-----------+----------------+ .. _ATC_BAL_I: ATC\_BAL\_I: Pitch control I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control I gain for BalanceBots\. Corrects long term error between the desired pitch \(in radians\) and actual pitch +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 2.000 | +-----------+----------------+ .. _ATC_BAL_IMAX: ATC\_BAL\_IMAX: Pitch control I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control I gain maximum\. Constrains the maximum motor output \(range \-1 to \+1\) that the I term will generate +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 1.000 | +-----------+----------------+ .. _ATC_BAL_D: ATC\_BAL\_D: Pitch control D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control D gain\. Compensates for short\-term change in desired pitch vs actual +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.100 | +-----------+----------------+ .. _ATC_BAL_FF: ATC\_BAL\_FF: Pitch control feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control feed forward +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.500 | +-----------+----------------+ .. _ATC_BAL_FLTT: ATC\_BAL\_FLTT: Pitch control Target filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control Target filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_BAL_FLTE: ATC\_BAL\_FLTE: Pitch control Error filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control Error filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_BAL_FLTD: ATC\_BAL\_FLTD: Pitch control Derivative term filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control Derivative filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_BAL_SMAX: ATC\_BAL\_SMAX: Pitch control slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch control upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _ATC_BAL_PDMX: ATC\_BAL\_PDMX: Pitch control PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 1.000 | +-----------+----------------+ .. _ATC_BAL_D_FF: ATC\_BAL\_D\_FF: Pitch control Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.001 | 0 to 0.03 | +-----------+-----------+ .. _ATC_BAL_NTF: ATC\_BAL\_NTF: Pitch control Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch control Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _ATC_BAL_NEF: ATC\_BAL\_NEF: Pitch control Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch control Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _ATC_BAL_PIT_FF: ATC\_BAL\_PIT\_FF: Pitch control feed forward from current pitch angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control feed forward from current pitch angle +-----------+------------+ | Increment | Range | +===========+============+ | 0.01 | 0.0 to 1.0 | +-----------+------------+ .. _ATC_SAIL_P: ATC\_SAIL\_P: Sail Heel control P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sail Heel control P gain for sailboats\. Converts the error between the desired heel angle \(in radians\) and actual heel to a main sail output \(in the range \-1 to \+1\) +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 2.000 | +-----------+----------------+ .. _ATC_SAIL_I: ATC\_SAIL\_I: Sail Heel control I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sail Heel control I gain for sailboats\. Corrects long term error between the desired heel angle \(in radians\) and actual +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 2.000 | +-----------+----------------+ .. _ATC_SAIL_IMAX: ATC\_SAIL\_IMAX: Sail Heel control I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sail Heel control I gain maximum\. Constrains the maximum I term contribution to the main sail output \(range \-1 to \+1\) +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 1.000 | +-----------+----------------+ .. _ATC_SAIL_D: ATC\_SAIL\_D: Sail Heel control D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sail Heel control D gain\. Compensates for short\-term change in desired heel angle vs actual +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.100 | +-----------+----------------+ .. _ATC_SAIL_FF: ATC\_SAIL\_FF: Sail Heel control feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sail Heel control feed forward +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.500 | +-----------+----------------+ .. _ATC_SAIL_FLTT: ATC\_SAIL\_FLTT: Sail Heel Target filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Target filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_SAIL_FLTE: ATC\_SAIL\_FLTE: Sail Heel Error filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Error filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_SAIL_FLTD: ATC\_SAIL\_FLTD: Sail Heel Derivative term filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Derivative filter frequency in Hz +-----------+------------------+-------+ | Increment | Range | Units | +===========+==================+=======+ | 0.1 | 0.000 to 100.000 | hertz | +-----------+------------------+-------+ .. _ATC_SAIL_SMAX: ATC\_SAIL\_SMAX: Sail heel slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _ATC_SAIL_PDMX: ATC\_SAIL\_PDMX: Sail Heel control PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sail Heel control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+----------------+ | Increment | Range | +===========+================+ | 0.01 | 0.000 to 1.000 | +-----------+----------------+ .. _ATC_SAIL_D_FF: ATC\_SAIL\_D\_FF: Sail Heel Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.001 | 0 to 0.03 | +-----------+-----------+ .. _ATC_SAIL_NTF: ATC\_SAIL\_NTF: Sail Heel Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sail Heel Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _ATC_SAIL_NEF: ATC\_SAIL\_NEF: Sail Heel Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sail Heel Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _ATC_TURN_MAX_G: ATC\_TURN\_MAX\_G: Turning maximum G force ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum turning acceleration \(in units of gravities\) that the rover can handle while remaining stable\. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns +-----------+-----------+--------------------------------------+ | Increment | Range | Units | +===========+===========+======================================+ | 0.01 | 0.1 to 10 | standard acceleration due to gravity | +-----------+-----------+--------------------------------------+ .. _ATC_BAL_LIM_TC: ATC\_BAL\_LIM\_TC: Pitch control limit time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control limit time constant to protect against falling\. Lower values limit pitch more quickly\, higher values limit more slowly\. Set to 0 to disable +-----------+------------+ | Increment | Range | +===========+============+ | 0.01 | 0.0 to 5.0 | +-----------+------------+ .. _ATC_BAL_LIM_THR: ATC\_BAL\_LIM\_THR: Pitch control limit throttle threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch control limit throttle threshold\. Pitch angle will be limited if throttle crosses this threshold \(from 0 to 1\) +-----------+------------+ | Increment | Range | +===========+============+ | 0.01 | 0.0 to 1.0 | +-----------+------------+ .. _ATC_STR_DEC_MAX: ATC\_STR\_DEC\_MAX: Steering control angular deceleration maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Steering control angular deceleration maximum \(in deg\/s\/s\)\. 0 to disable deceleration limiting +-----------+-----------+---------------------------+ | Increment | Range | Units | +===========+===========+===========================+ | 0.1 | 0 to 1000 | degrees per square second | +-----------+-----------+---------------------------+ .. _parameters_AVOID_: AVOID\_ Parameters ------------------ .. _AVOID_ENABLE: AVOID\_ENABLE: Avoidance control enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enabled\/disable avoidance input sources +-----+--------------------+ | Bit | Meaning | +=====+====================+ | 0 | UseFence | +-----+--------------------+ | 1 | UseProximitySensor | +-----+--------------------+ | 2 | UseBeaconFence | +-----+--------------------+ .. _AVOID_MARGIN: AVOID\_MARGIN: Avoidance distance margin in GPS modes ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle will attempt to stay at least this distance \(in meters\) from objects while in GPS modes +---------+--------+ | Range | Units | +=========+========+ | 1 to 10 | meters | +---------+--------+ .. _AVOID_BEHAVE: AVOID\_BEHAVE: Avoidance behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Avoidance behaviour \(slide or stop\) +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Slide | +-------+---------+ | 1 | Stop | +-------+---------+ .. _AVOID_BACKUP_SPD: AVOID\_BACKUP\_SPD: Avoidance maximum horizontal backup speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum speed that will be used to back away from obstacles horizontally in position control modes \(m\/s\)\. Set zero to disable horizontal backup\. +--------+-------------------+ | Range | Units | +========+===================+ | 0 to 2 | meters per second | +--------+-------------------+ .. _AVOID_ACCEL_MAX: AVOID\_ACCEL\_MAX: Avoidance maximum acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum acceleration with which obstacles will be avoided with\. Set zero to disable acceleration limits +--------+--------------------------+ | Range | Units | +========+==========================+ | 0 to 9 | meters per square second | +--------+--------------------------+ .. _AVOID_BACKUP_DZ: AVOID\_BACKUP\_DZ: Avoidance deadzone between stopping and backing away from obstacle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance beyond AVOID\_MARGIN parameter\, after which vehicle will backaway from obstacles\. Increase this parameter if you see vehicle going back and forth in front of obstacle\. +--------+--------+ | Range | Units | +========+========+ | 0 to 2 | meters | +--------+--------+ .. _AVOID_BACKZ_SPD: AVOID\_BACKZ\_SPD: Avoidance maximum vertical backup speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum speed that will be used to back away from obstacles vertically in height control modes \(m\/s\)\. Set zero to disable vertical backup\. +--------+-------------------+ | Range | Units | +========+===================+ | 0 to 2 | meters per second | +--------+-------------------+ .. _parameters_BARO: BARO Parameters --------------- .. _BARO1_GND_PRESS: BARO1\_GND\_PRESS: Ground Pressure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* calibrated ground pressure in Pascals +-----------+----------+--------+----------+ | Increment | ReadOnly | Units | Volatile | +===========+==========+========+==========+ | 1 | True | pascal | True | +-----------+----------+--------+----------+ .. _BARO_GND_TEMP: BARO\_GND\_TEMP: ground temperature ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* User provided ambient ground temperature in degrees Celsius\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. A value of 0 means use the internal measurement ambient temperature\. +-----------+-----------------+----------+ | Increment | Units | Volatile | +===========+=================+==========+ | 1 | degrees Celsius | True | +-----------+-----------------+----------+ .. _BARO_ALT_OFFSET: BARO\_ALT\_OFFSET: altitude offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* altitude offset in meters added to barometric altitude\. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer\. The value is added to the barometric altitude read by the aircraft\. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed\. +-----------+--------+ | Increment | Units | +===========+========+ | 0.1 | meters | +-----------+--------+ .. _BARO_PRIMARY: BARO\_PRIMARY: Primary barometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This selects which barometer will be the primary if multiple barometers are found +-------+-----------+ | Value | Meaning | +=======+===========+ | 0 | FirstBaro | +-------+-----------+ | 1 | 2ndBaro | +-------+-----------+ | 2 | 3rdBaro | +-------+-----------+ .. _BARO_EXT_BUS: BARO\_EXT\_BUS: External baro bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the BARO\_PROBE\_EXT parameter\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Bus0 | +-------+----------+ | 1 | Bus1 | +-------+----------+ | 6 | Bus6 | +-------+----------+ .. _BARO2_GND_PRESS: BARO2\_GND\_PRESS: Ground Pressure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* calibrated ground pressure in Pascals +-----------+----------+--------+----------+ | Increment | ReadOnly | Units | Volatile | +===========+==========+========+==========+ | 1 | True | pascal | True | +-----------+----------+--------+----------+ .. _BARO3_GND_PRESS: BARO3\_GND\_PRESS: Absolute Pressure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* calibrated ground pressure in Pascals +-----------+----------+--------+----------+ | Increment | ReadOnly | Units | Volatile | +===========+==========+========+==========+ | 1 | True | pascal | True | +-----------+----------+--------+----------+ .. _BARO_FLTR_RNG: BARO\_FLTR\_RNG: Range in which sample is accepted ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _BARO_PROBE_EXT: BARO\_PROBE\_EXT: External barometers to probe ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on BARO\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in BARO\_EXT\_BUS\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | BMP085 | +-----+---------+ | 1 | BMP280 | +-----+---------+ | 2 | MS5611 | +-----+---------+ | 3 | MS5607 | +-----+---------+ | 4 | MS5637 | +-----+---------+ | 5 | FBM320 | +-----+---------+ | 6 | DPS280 | +-----+---------+ | 7 | LPS25H | +-----+---------+ | 8 | Keller | +-----+---------+ | 9 | MS5837 | +-----+---------+ | 10 | BMP388 | +-----+---------+ | 11 | SPL06 | +-----+---------+ | 12 | MSP | +-----+---------+ | 13 | BMP581 | +-----+---------+ | 14 | AUAV | +-----+---------+ .. _BARO1_DEVID: BARO1\_DEVID: Baro ID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _BARO2_DEVID: BARO2\_DEVID: Baro ID2 ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer2 sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _BARO3_DEVID: BARO3\_DEVID: Baro ID3 ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer3 sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _BARO_FIELD_ELV: BARO\_FIELD\_ELV: field elevation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* User provided field elevation in meters\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. Changes to this parameter will only be used when disarmed\. A value of 0 means the EKF origin height is used for takeoff height above sea level\. +-----------+--------+----------+ | Increment | Units | Volatile | +===========+========+==========+ | 0.1 | meters | True | +-----------+--------+----------+ .. _BARO1_THST_SCALE: BARO1\_THST\_SCALE: Thrust compensation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Thrust scaling in Pascals\. This value scaled by the normalized thrust is subtracted from the barometer pressure\. This is used to adjust linearly based on the thrust output for local pressure difference induced by the props\. +-------------+ | Range | +=============+ | -300 to 300 | +-------------+ .. _BARO_THST_FILT: BARO\_THST\_FILT: Thrust compensation filter cutoff ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Low\-pass filter cutoff frequency for thrust compensation\. This smooths the throttle input to prevent rapid baro altitude changes during throttle transients\. Set to 0 to disable filtering\. +---------+-------+ | Range | Units | +=========+=======+ | 0 to 10 | hertz | +---------+-------+ .. _parameters_BARO1_WCF_: BARO1\_WCF\_ Parameters ----------------------- .. _BARO1_WCF_ENABLE: BARO1\_WCF\_ENABLE: Wind coefficient enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the use of wind coefficients for barometer compensation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _BARO1_WCF_FWD: BARO1\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO1_WCF_BCK: BARO1\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO1_WCF_RGT: BARO1\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO1_WCF_LFT: BARO1\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO1_WCF_UP: BARO1\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO1_WCF_DN: BARO1\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _parameters_BARO2_WCF_: BARO2\_WCF\_ Parameters ----------------------- .. _BARO2_WCF_ENABLE: BARO2\_WCF\_ENABLE: Wind coefficient enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the use of wind coefficients for barometer compensation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _BARO2_WCF_FWD: BARO2\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO2_WCF_BCK: BARO2\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO2_WCF_RGT: BARO2\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO2_WCF_LFT: BARO2\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO2_WCF_UP: BARO2\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO2_WCF_DN: BARO2\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _parameters_BARO3_WCF_: BARO3\_WCF\_ Parameters ----------------------- .. _BARO3_WCF_ENABLE: BARO3\_WCF\_ENABLE: Wind coefficient enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the use of wind coefficients for barometer compensation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _BARO3_WCF_FWD: BARO3\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO3_WCF_BCK: BARO3\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO3_WCF_RGT: BARO3\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO3_WCF_LFT: BARO3\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO3_WCF_UP: BARO3\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _BARO3_WCF_DN: BARO3\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.05 | -1.0 to 1.0 | +-----------+-------------+ .. _parameters_BATT2_: BATT2\_ Parameters ------------------ .. _BATT2_MONITOR: BATT2\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATT2_CAPACITY: BATT2\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT2_WATT_MAX: BATT2\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT2_SERIAL_NUM: BATT2\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT2_LOW_TIMER: BATT2\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT2_FS_VOLTSRC: BATT2\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATT2_LOW_VOLT: BATT2\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT2_LOW_MAH: BATT2\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT2_CRT_VOLT: BATT2\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT2_CRT_MAH: BATT2\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT2_FS_LOW_ACT: BATT2\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT2_FS_CRT_ACT: BATT2\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT2_ARM_VOLT: BATT2\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT2_ARM_MAH: BATT2\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT2\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT2_OPTIONS: BATT2\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATT2_ESC_INDEX: BATT2\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATT2_VOLT_PIN__AP_BattMonitor_Analog: BATT2\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT2_CURR_PIN__AP_BattMonitor_Analog: BATT2\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT2_VOLT_MULT__AP_BattMonitor_Analog: BATT2\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATT2_AMP_PERVLT__AP_BattMonitor_Analog: BATT2\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT2_AMP_OFFSET__AP_BattMonitor_Analog: BATT2\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT2_VLT_OFFSET__AP_BattMonitor_Analog: BATT2\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT2_I2C_BUS__AP_BattMonitor_SMBus: BATT2\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT2_I2C_ADDR__AP_BattMonitor_SMBus: BATT2\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT2_SUM_MASK: BATT2\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATT2_CURR_MULT: BATT2\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATT2_FL_VLT_MIN: BATT2\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATT2_FL_V_MULT: BATT2\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATT2_FL_FLTR: BATT2\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATT2_FL_PIN: BATT2\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT2_FL_FF: BATT2\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT2_FL_FS: BATT2\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT2_FL_FT: BATT2\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT2_FL_OFF: BATT2\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT2_MAX_VOLT: BATT2\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATT2_I2C_BUS__AP_BattMonitor_INA2xx: BATT2\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT2_I2C_ADDR__AP_BattMonitor_INA2xx: BATT2\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT2_MAX_AMPS__AP_BattMonitor_INA2xx: BATT2\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT2_SHUNT__AP_BattMonitor_INA2xx: BATT2\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT2_ESC_MASK: BATT2\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATT2_MAX_AMPS__AP_BattMonitor_INA239: BATT2\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT2_SHUNT__AP_BattMonitor_INA239: BATT2\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT2_I2C_BUS__AP_BattMonitor_INA3221: BATT2\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT2_I2C_ADDR__AP_BattMonitor_INA3221: BATT2\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT2_CHANNEL: BATT2\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATT2_VOLT_PIN__AP_BattMonitor_AD7091R5: BATT2\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT2_CURR_PIN__AP_BattMonitor_AD7091R5: BATT2\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT2_VOLT_MULT__AP_BattMonitor_AD7091R5: BATT2\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATT2_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATT2\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT2_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATT2\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATT2_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATT2\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATT2_CFG_UPDATE: BATT2\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATT3_: BATT3\_ Parameters ------------------ .. _BATT3_MONITOR: BATT3\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATT3_CAPACITY: BATT3\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT3_WATT_MAX: BATT3\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT3_SERIAL_NUM: BATT3\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT3_LOW_TIMER: BATT3\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT3_FS_VOLTSRC: BATT3\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATT3_LOW_VOLT: BATT3\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT3_LOW_MAH: BATT3\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT3_CRT_VOLT: BATT3\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT3_CRT_MAH: BATT3\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT3_FS_LOW_ACT: BATT3\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT3_FS_CRT_ACT: BATT3\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT3_ARM_VOLT: BATT3\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT3_ARM_MAH: BATT3\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT3\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT3_OPTIONS: BATT3\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATT3_ESC_INDEX: BATT3\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATT3_VOLT_PIN__AP_BattMonitor_Analog: BATT3\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT3_CURR_PIN__AP_BattMonitor_Analog: BATT3\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT3_VOLT_MULT__AP_BattMonitor_Analog: BATT3\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT3\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATT3_AMP_PERVLT__AP_BattMonitor_Analog: BATT3\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT3_AMP_OFFSET__AP_BattMonitor_Analog: BATT3\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT3_VLT_OFFSET__AP_BattMonitor_Analog: BATT3\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT3_I2C_BUS__AP_BattMonitor_SMBus: BATT3\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT3_I2C_ADDR__AP_BattMonitor_SMBus: BATT3\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT3_SUM_MASK: BATT3\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATT3_CURR_MULT: BATT3\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATT3_FL_VLT_MIN: BATT3\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATT3_FL_V_MULT: BATT3\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATT3_FL_FLTR: BATT3\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATT3_FL_PIN: BATT3\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT3_FL_FF: BATT3\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT3_FL_FS: BATT3\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT3_FL_FT: BATT3\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT3_FL_OFF: BATT3\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT3_MAX_VOLT: BATT3\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATT3_I2C_BUS__AP_BattMonitor_INA2xx: BATT3\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT3_I2C_ADDR__AP_BattMonitor_INA2xx: BATT3\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT3_MAX_AMPS__AP_BattMonitor_INA2xx: BATT3\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT3_SHUNT__AP_BattMonitor_INA2xx: BATT3\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT3_ESC_MASK: BATT3\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATT3_MAX_AMPS__AP_BattMonitor_INA239: BATT3\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT3_SHUNT__AP_BattMonitor_INA239: BATT3\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT3_I2C_BUS__AP_BattMonitor_INA3221: BATT3\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT3_I2C_ADDR__AP_BattMonitor_INA3221: BATT3\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT3_CHANNEL: BATT3\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATT3_VOLT_PIN__AP_BattMonitor_AD7091R5: BATT3\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT3_CURR_PIN__AP_BattMonitor_AD7091R5: BATT3\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT3_VOLT_MULT__AP_BattMonitor_AD7091R5: BATT3\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT3\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATT3_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATT3\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT3_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATT3\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATT3_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATT3\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATT3_CFG_UPDATE: BATT3\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATT4_: BATT4\_ Parameters ------------------ .. _BATT4_MONITOR: BATT4\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATT4_CAPACITY: BATT4\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT4_WATT_MAX: BATT4\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT4_SERIAL_NUM: BATT4\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT4_LOW_TIMER: BATT4\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT4_FS_VOLTSRC: BATT4\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATT4_LOW_VOLT: BATT4\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT4_LOW_MAH: BATT4\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT4_CRT_VOLT: BATT4\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT4_CRT_MAH: BATT4\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT4_FS_LOW_ACT: BATT4\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT4_FS_CRT_ACT: BATT4\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT4_ARM_VOLT: BATT4\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT4_ARM_MAH: BATT4\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT4\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT4_OPTIONS: BATT4\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATT4_ESC_INDEX: BATT4\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATT4_VOLT_PIN__AP_BattMonitor_Analog: BATT4\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT4_CURR_PIN__AP_BattMonitor_Analog: BATT4\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT4_VOLT_MULT__AP_BattMonitor_Analog: BATT4\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT4\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATT4_AMP_PERVLT__AP_BattMonitor_Analog: BATT4\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT4_AMP_OFFSET__AP_BattMonitor_Analog: BATT4\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT4_VLT_OFFSET__AP_BattMonitor_Analog: BATT4\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT4_I2C_BUS__AP_BattMonitor_SMBus: BATT4\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT4_I2C_ADDR__AP_BattMonitor_SMBus: BATT4\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT4_SUM_MASK: BATT4\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATT4_CURR_MULT: BATT4\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATT4_FL_VLT_MIN: BATT4\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATT4_FL_V_MULT: BATT4\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATT4_FL_FLTR: BATT4\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATT4_FL_PIN: BATT4\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT4_FL_FF: BATT4\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT4_FL_FS: BATT4\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT4_FL_FT: BATT4\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT4_FL_OFF: BATT4\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT4_MAX_VOLT: BATT4\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATT4_I2C_BUS__AP_BattMonitor_INA2xx: BATT4\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT4_I2C_ADDR__AP_BattMonitor_INA2xx: BATT4\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT4_MAX_AMPS__AP_BattMonitor_INA2xx: BATT4\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT4_SHUNT__AP_BattMonitor_INA2xx: BATT4\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT4_ESC_MASK: BATT4\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATT4_MAX_AMPS__AP_BattMonitor_INA239: BATT4\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT4_SHUNT__AP_BattMonitor_INA239: BATT4\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT4_I2C_BUS__AP_BattMonitor_INA3221: BATT4\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT4_I2C_ADDR__AP_BattMonitor_INA3221: BATT4\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT4_CHANNEL: BATT4\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATT4_VOLT_PIN__AP_BattMonitor_AD7091R5: BATT4\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT4_CURR_PIN__AP_BattMonitor_AD7091R5: BATT4\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT4_VOLT_MULT__AP_BattMonitor_AD7091R5: BATT4\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT4\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATT4_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATT4\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT4_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATT4\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATT4_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATT4\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATT4_CFG_UPDATE: BATT4\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATT5_: BATT5\_ Parameters ------------------ .. _BATT5_MONITOR: BATT5\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATT5_CAPACITY: BATT5\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT5_WATT_MAX: BATT5\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT5_SERIAL_NUM: BATT5\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT5_LOW_TIMER: BATT5\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT5_FS_VOLTSRC: BATT5\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATT5_LOW_VOLT: BATT5\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT5_LOW_MAH: BATT5\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT5_CRT_VOLT: BATT5\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT5_CRT_MAH: BATT5\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT5_FS_LOW_ACT: BATT5\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT5_FS_CRT_ACT: BATT5\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT5_ARM_VOLT: BATT5\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT5_ARM_MAH: BATT5\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT5\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT5_OPTIONS: BATT5\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATT5_ESC_INDEX: BATT5\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATT5_VOLT_PIN__AP_BattMonitor_Analog: BATT5\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT5_CURR_PIN__AP_BattMonitor_Analog: BATT5\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT5_VOLT_MULT__AP_BattMonitor_Analog: BATT5\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT5\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATT5_AMP_PERVLT__AP_BattMonitor_Analog: BATT5\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT5_AMP_OFFSET__AP_BattMonitor_Analog: BATT5\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT5_VLT_OFFSET__AP_BattMonitor_Analog: BATT5\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT5_I2C_BUS__AP_BattMonitor_SMBus: BATT5\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT5_I2C_ADDR__AP_BattMonitor_SMBus: BATT5\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT5_SUM_MASK: BATT5\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATT5_CURR_MULT: BATT5\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATT5_FL_VLT_MIN: BATT5\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATT5_FL_V_MULT: BATT5\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATT5_FL_FLTR: BATT5\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATT5_FL_PIN: BATT5\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT5_FL_FF: BATT5\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT5_FL_FS: BATT5\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT5_FL_FT: BATT5\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT5_FL_OFF: BATT5\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT5_MAX_VOLT: BATT5\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATT5_I2C_BUS__AP_BattMonitor_INA2xx: BATT5\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT5_I2C_ADDR__AP_BattMonitor_INA2xx: BATT5\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT5_MAX_AMPS__AP_BattMonitor_INA2xx: BATT5\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT5_SHUNT__AP_BattMonitor_INA2xx: BATT5\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT5_ESC_MASK: BATT5\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATT5_MAX_AMPS__AP_BattMonitor_INA239: BATT5\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT5_SHUNT__AP_BattMonitor_INA239: BATT5\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT5_I2C_BUS__AP_BattMonitor_INA3221: BATT5\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT5_I2C_ADDR__AP_BattMonitor_INA3221: BATT5\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT5_CHANNEL: BATT5\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATT5_VOLT_PIN__AP_BattMonitor_AD7091R5: BATT5\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT5_CURR_PIN__AP_BattMonitor_AD7091R5: BATT5\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT5_VOLT_MULT__AP_BattMonitor_AD7091R5: BATT5\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT5\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATT5_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATT5\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT5_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATT5\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATT5_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATT5\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATT5_CFG_UPDATE: BATT5\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATT6_: BATT6\_ Parameters ------------------ .. _BATT6_MONITOR: BATT6\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATT6_CAPACITY: BATT6\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT6_WATT_MAX: BATT6\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT6_SERIAL_NUM: BATT6\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT6_LOW_TIMER: BATT6\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT6_FS_VOLTSRC: BATT6\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATT6_LOW_VOLT: BATT6\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT6_LOW_MAH: BATT6\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT6_CRT_VOLT: BATT6\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT6_CRT_MAH: BATT6\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT6_FS_LOW_ACT: BATT6\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT6_FS_CRT_ACT: BATT6\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT6_ARM_VOLT: BATT6\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT6_ARM_MAH: BATT6\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT6\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT6_OPTIONS: BATT6\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATT6_ESC_INDEX: BATT6\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATT6_VOLT_PIN__AP_BattMonitor_Analog: BATT6\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT6_CURR_PIN__AP_BattMonitor_Analog: BATT6\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT6_VOLT_MULT__AP_BattMonitor_Analog: BATT6\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT6\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATT6_AMP_PERVLT__AP_BattMonitor_Analog: BATT6\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT6_AMP_OFFSET__AP_BattMonitor_Analog: BATT6\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT6_VLT_OFFSET__AP_BattMonitor_Analog: BATT6\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT6_I2C_BUS__AP_BattMonitor_SMBus: BATT6\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT6_I2C_ADDR__AP_BattMonitor_SMBus: BATT6\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT6_SUM_MASK: BATT6\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATT6_CURR_MULT: BATT6\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATT6_FL_VLT_MIN: BATT6\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATT6_FL_V_MULT: BATT6\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATT6_FL_FLTR: BATT6\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATT6_FL_PIN: BATT6\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT6_FL_FF: BATT6\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT6_FL_FS: BATT6\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT6_FL_FT: BATT6\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT6_FL_OFF: BATT6\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT6_MAX_VOLT: BATT6\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATT6_I2C_BUS__AP_BattMonitor_INA2xx: BATT6\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT6_I2C_ADDR__AP_BattMonitor_INA2xx: BATT6\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT6_MAX_AMPS__AP_BattMonitor_INA2xx: BATT6\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT6_SHUNT__AP_BattMonitor_INA2xx: BATT6\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT6_ESC_MASK: BATT6\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATT6_MAX_AMPS__AP_BattMonitor_INA239: BATT6\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT6_SHUNT__AP_BattMonitor_INA239: BATT6\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT6_I2C_BUS__AP_BattMonitor_INA3221: BATT6\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT6_I2C_ADDR__AP_BattMonitor_INA3221: BATT6\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT6_CHANNEL: BATT6\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATT6_VOLT_PIN__AP_BattMonitor_AD7091R5: BATT6\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT6_CURR_PIN__AP_BattMonitor_AD7091R5: BATT6\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT6_VOLT_MULT__AP_BattMonitor_AD7091R5: BATT6\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT6\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATT6_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATT6\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT6_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATT6\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATT6_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATT6\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATT6_CFG_UPDATE: BATT6\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATT7_: BATT7\_ Parameters ------------------ .. _BATT7_MONITOR: BATT7\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATT7_CAPACITY: BATT7\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT7_WATT_MAX: BATT7\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT7_SERIAL_NUM: BATT7\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT7_LOW_TIMER: BATT7\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT7_FS_VOLTSRC: BATT7\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATT7_LOW_VOLT: BATT7\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT7_LOW_MAH: BATT7\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT7_CRT_VOLT: BATT7\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT7_CRT_MAH: BATT7\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT7_FS_LOW_ACT: BATT7\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT7_FS_CRT_ACT: BATT7\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT7_ARM_VOLT: BATT7\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT7_ARM_MAH: BATT7\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT7\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT7_OPTIONS: BATT7\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATT7_ESC_INDEX: BATT7\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATT7_VOLT_PIN__AP_BattMonitor_Analog: BATT7\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT7_CURR_PIN__AP_BattMonitor_Analog: BATT7\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT7_VOLT_MULT__AP_BattMonitor_Analog: BATT7\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT7\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATT7_AMP_PERVLT__AP_BattMonitor_Analog: BATT7\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT7_AMP_OFFSET__AP_BattMonitor_Analog: BATT7\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT7_VLT_OFFSET__AP_BattMonitor_Analog: BATT7\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT7_I2C_BUS__AP_BattMonitor_SMBus: BATT7\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT7_I2C_ADDR__AP_BattMonitor_SMBus: BATT7\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT7_SUM_MASK: BATT7\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATT7_CURR_MULT: BATT7\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATT7_FL_VLT_MIN: BATT7\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATT7_FL_V_MULT: BATT7\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATT7_FL_FLTR: BATT7\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATT7_FL_PIN: BATT7\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT7_FL_FF: BATT7\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT7_FL_FS: BATT7\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT7_FL_FT: BATT7\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT7_FL_OFF: BATT7\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT7_MAX_VOLT: BATT7\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATT7_I2C_BUS__AP_BattMonitor_INA2xx: BATT7\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT7_I2C_ADDR__AP_BattMonitor_INA2xx: BATT7\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT7_MAX_AMPS__AP_BattMonitor_INA2xx: BATT7\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT7_SHUNT__AP_BattMonitor_INA2xx: BATT7\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT7_ESC_MASK: BATT7\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATT7_MAX_AMPS__AP_BattMonitor_INA239: BATT7\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT7_SHUNT__AP_BattMonitor_INA239: BATT7\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT7_I2C_BUS__AP_BattMonitor_INA3221: BATT7\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT7_I2C_ADDR__AP_BattMonitor_INA3221: BATT7\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT7_CHANNEL: BATT7\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATT7_VOLT_PIN__AP_BattMonitor_AD7091R5: BATT7\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT7_CURR_PIN__AP_BattMonitor_AD7091R5: BATT7\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT7_VOLT_MULT__AP_BattMonitor_AD7091R5: BATT7\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT7\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATT7_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATT7\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT7_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATT7\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATT7_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATT7\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATT7_CFG_UPDATE: BATT7\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATT8_: BATT8\_ Parameters ------------------ .. _BATT8_MONITOR: BATT8\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATT8_CAPACITY: BATT8\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT8_WATT_MAX: BATT8\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT8_SERIAL_NUM: BATT8\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT8_LOW_TIMER: BATT8\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT8_FS_VOLTSRC: BATT8\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATT8_LOW_VOLT: BATT8\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT8_LOW_MAH: BATT8\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT8_CRT_VOLT: BATT8\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT8_CRT_MAH: BATT8\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT8_FS_LOW_ACT: BATT8\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT8_FS_CRT_ACT: BATT8\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT8_ARM_VOLT: BATT8\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT8_ARM_MAH: BATT8\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT8\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT8_OPTIONS: BATT8\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATT8_ESC_INDEX: BATT8\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATT8_VOLT_PIN__AP_BattMonitor_Analog: BATT8\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT8_CURR_PIN__AP_BattMonitor_Analog: BATT8\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT8_VOLT_MULT__AP_BattMonitor_Analog: BATT8\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT8\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATT8_AMP_PERVLT__AP_BattMonitor_Analog: BATT8\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT8_AMP_OFFSET__AP_BattMonitor_Analog: BATT8\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT8_VLT_OFFSET__AP_BattMonitor_Analog: BATT8\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT8_I2C_BUS__AP_BattMonitor_SMBus: BATT8\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT8_I2C_ADDR__AP_BattMonitor_SMBus: BATT8\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT8_SUM_MASK: BATT8\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATT8_CURR_MULT: BATT8\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATT8_FL_VLT_MIN: BATT8\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATT8_FL_V_MULT: BATT8\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATT8_FL_FLTR: BATT8\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATT8_FL_PIN: BATT8\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT8_FL_FF: BATT8\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT8_FL_FS: BATT8\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT8_FL_FT: BATT8\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT8_FL_OFF: BATT8\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT8_MAX_VOLT: BATT8\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATT8_I2C_BUS__AP_BattMonitor_INA2xx: BATT8\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT8_I2C_ADDR__AP_BattMonitor_INA2xx: BATT8\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT8_MAX_AMPS__AP_BattMonitor_INA2xx: BATT8\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT8_SHUNT__AP_BattMonitor_INA2xx: BATT8\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT8_ESC_MASK: BATT8\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATT8_MAX_AMPS__AP_BattMonitor_INA239: BATT8\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT8_SHUNT__AP_BattMonitor_INA239: BATT8\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT8_I2C_BUS__AP_BattMonitor_INA3221: BATT8\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT8_I2C_ADDR__AP_BattMonitor_INA3221: BATT8\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT8_CHANNEL: BATT8\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATT8_VOLT_PIN__AP_BattMonitor_AD7091R5: BATT8\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT8_CURR_PIN__AP_BattMonitor_AD7091R5: BATT8\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT8_VOLT_MULT__AP_BattMonitor_AD7091R5: BATT8\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT8\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATT8_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATT8\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT8_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATT8\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATT8_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATT8\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATT8_CFG_UPDATE: BATT8\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATT9_: BATT9\_ Parameters ------------------ .. _BATT9_MONITOR: BATT9\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATT9_CAPACITY: BATT9\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT9_WATT_MAX: BATT9\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT9_SERIAL_NUM: BATT9\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT9_LOW_TIMER: BATT9\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT9_FS_VOLTSRC: BATT9\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATT9_LOW_VOLT: BATT9\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT9_LOW_MAH: BATT9\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT9_CRT_VOLT: BATT9\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT9_CRT_MAH: BATT9\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT9_FS_LOW_ACT: BATT9\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT9_FS_CRT_ACT: BATT9\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT9_ARM_VOLT: BATT9\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT9_ARM_MAH: BATT9\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT9\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT9_OPTIONS: BATT9\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATT9_ESC_INDEX: BATT9\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATT9_VOLT_PIN__AP_BattMonitor_Analog: BATT9\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT9_CURR_PIN__AP_BattMonitor_Analog: BATT9\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT9_VOLT_MULT__AP_BattMonitor_Analog: BATT9\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT9\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATT9_AMP_PERVLT__AP_BattMonitor_Analog: BATT9\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT9_AMP_OFFSET__AP_BattMonitor_Analog: BATT9\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT9_VLT_OFFSET__AP_BattMonitor_Analog: BATT9\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT9_I2C_BUS__AP_BattMonitor_SMBus: BATT9\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT9_I2C_ADDR__AP_BattMonitor_SMBus: BATT9\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT9_SUM_MASK: BATT9\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATT9_CURR_MULT: BATT9\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATT9_FL_VLT_MIN: BATT9\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATT9_FL_V_MULT: BATT9\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATT9_FL_FLTR: BATT9\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATT9_FL_PIN: BATT9\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT9_FL_FF: BATT9\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT9_FL_FS: BATT9\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT9_FL_FT: BATT9\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT9_FL_OFF: BATT9\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT9_MAX_VOLT: BATT9\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATT9_I2C_BUS__AP_BattMonitor_INA2xx: BATT9\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT9_I2C_ADDR__AP_BattMonitor_INA2xx: BATT9\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT9_MAX_AMPS__AP_BattMonitor_INA2xx: BATT9\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT9_SHUNT__AP_BattMonitor_INA2xx: BATT9\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT9_ESC_MASK: BATT9\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATT9_MAX_AMPS__AP_BattMonitor_INA239: BATT9\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT9_SHUNT__AP_BattMonitor_INA239: BATT9\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT9_I2C_BUS__AP_BattMonitor_INA3221: BATT9\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT9_I2C_ADDR__AP_BattMonitor_INA3221: BATT9\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT9_CHANNEL: BATT9\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATT9_VOLT_PIN__AP_BattMonitor_AD7091R5: BATT9\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT9_CURR_PIN__AP_BattMonitor_AD7091R5: BATT9\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT9_VOLT_MULT__AP_BattMonitor_AD7091R5: BATT9\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT9\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATT9_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATT9\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT9_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATT9\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATT9_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATT9\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATT9_CFG_UPDATE: BATT9\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATTA_: BATTA\_ Parameters ------------------ .. _BATTA_MONITOR: BATTA\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATTA_CAPACITY: BATTA\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTA_WATT_MAX: BATTA\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTA_SERIAL_NUM: BATTA\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTA_LOW_TIMER: BATTA\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTA_FS_VOLTSRC: BATTA\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATTA_LOW_VOLT: BATTA\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTA_LOW_MAH: BATTA\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTA_CRT_VOLT: BATTA\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTA_CRT_MAH: BATTA\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTA_FS_LOW_ACT: BATTA\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTA_FS_CRT_ACT: BATTA\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTA_ARM_VOLT: BATTA\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTA_ARM_MAH: BATTA\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTA\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTA_OPTIONS: BATTA\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATTA_ESC_INDEX: BATTA\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATTA_VOLT_PIN__AP_BattMonitor_Analog: BATTA\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTA_CURR_PIN__AP_BattMonitor_Analog: BATTA\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTA_VOLT_MULT__AP_BattMonitor_Analog: BATTA\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTA\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATTA_AMP_PERVLT__AP_BattMonitor_Analog: BATTA\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTA_AMP_OFFSET__AP_BattMonitor_Analog: BATTA\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTA_VLT_OFFSET__AP_BattMonitor_Analog: BATTA\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTA_I2C_BUS__AP_BattMonitor_SMBus: BATTA\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTA_I2C_ADDR__AP_BattMonitor_SMBus: BATTA\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTA_SUM_MASK: BATTA\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATTA_CURR_MULT: BATTA\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATTA_FL_VLT_MIN: BATTA\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATTA_FL_V_MULT: BATTA\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATTA_FL_FLTR: BATTA\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATTA_FL_PIN: BATTA\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTA_FL_FF: BATTA\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTA_FL_FS: BATTA\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTA_FL_FT: BATTA\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTA_FL_OFF: BATTA\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTA_MAX_VOLT: BATTA\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATTA_I2C_BUS__AP_BattMonitor_INA2xx: BATTA\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTA_I2C_ADDR__AP_BattMonitor_INA2xx: BATTA\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTA_MAX_AMPS__AP_BattMonitor_INA2xx: BATTA\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTA_SHUNT__AP_BattMonitor_INA2xx: BATTA\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTA_ESC_MASK: BATTA\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATTA_MAX_AMPS__AP_BattMonitor_INA239: BATTA\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTA_SHUNT__AP_BattMonitor_INA239: BATTA\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTA_I2C_BUS__AP_BattMonitor_INA3221: BATTA\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTA_I2C_ADDR__AP_BattMonitor_INA3221: BATTA\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTA_CHANNEL: BATTA\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATTA_VOLT_PIN__AP_BattMonitor_AD7091R5: BATTA\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTA_CURR_PIN__AP_BattMonitor_AD7091R5: BATTA\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTA_VOLT_MULT__AP_BattMonitor_AD7091R5: BATTA\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTA\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATTA_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATTA\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTA_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATTA\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATTA_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATTA\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATTA_CFG_UPDATE: BATTA\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATTB_: BATTB\_ Parameters ------------------ .. _BATTB_MONITOR: BATTB\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATTB_CAPACITY: BATTB\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTB_WATT_MAX: BATTB\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTB_SERIAL_NUM: BATTB\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTB_LOW_TIMER: BATTB\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTB_FS_VOLTSRC: BATTB\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATTB_LOW_VOLT: BATTB\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTB_LOW_MAH: BATTB\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTB_CRT_VOLT: BATTB\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTB_CRT_MAH: BATTB\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTB_FS_LOW_ACT: BATTB\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTB_FS_CRT_ACT: BATTB\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTB_ARM_VOLT: BATTB\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTB_ARM_MAH: BATTB\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTB\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTB_OPTIONS: BATTB\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATTB_ESC_INDEX: BATTB\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATTB_VOLT_PIN__AP_BattMonitor_Analog: BATTB\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTB_CURR_PIN__AP_BattMonitor_Analog: BATTB\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTB_VOLT_MULT__AP_BattMonitor_Analog: BATTB\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTB\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATTB_AMP_PERVLT__AP_BattMonitor_Analog: BATTB\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTB_AMP_OFFSET__AP_BattMonitor_Analog: BATTB\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTB_VLT_OFFSET__AP_BattMonitor_Analog: BATTB\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTB_I2C_BUS__AP_BattMonitor_SMBus: BATTB\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTB_I2C_ADDR__AP_BattMonitor_SMBus: BATTB\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTB_SUM_MASK: BATTB\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATTB_CURR_MULT: BATTB\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATTB_FL_VLT_MIN: BATTB\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATTB_FL_V_MULT: BATTB\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATTB_FL_FLTR: BATTB\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATTB_FL_PIN: BATTB\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTB_FL_FF: BATTB\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTB_FL_FS: BATTB\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTB_FL_FT: BATTB\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTB_FL_OFF: BATTB\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTB_MAX_VOLT: BATTB\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATTB_I2C_BUS__AP_BattMonitor_INA2xx: BATTB\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTB_I2C_ADDR__AP_BattMonitor_INA2xx: BATTB\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTB_MAX_AMPS__AP_BattMonitor_INA2xx: BATTB\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTB_SHUNT__AP_BattMonitor_INA2xx: BATTB\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTB_ESC_MASK: BATTB\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATTB_MAX_AMPS__AP_BattMonitor_INA239: BATTB\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTB_SHUNT__AP_BattMonitor_INA239: BATTB\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTB_I2C_BUS__AP_BattMonitor_INA3221: BATTB\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTB_I2C_ADDR__AP_BattMonitor_INA3221: BATTB\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTB_CHANNEL: BATTB\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATTB_VOLT_PIN__AP_BattMonitor_AD7091R5: BATTB\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTB_CURR_PIN__AP_BattMonitor_AD7091R5: BATTB\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTB_VOLT_MULT__AP_BattMonitor_AD7091R5: BATTB\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTB\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATTB_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATTB\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTB_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATTB\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATTB_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATTB\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATTB_CFG_UPDATE: BATTB\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATTC_: BATTC\_ Parameters ------------------ .. _BATTC_MONITOR: BATTC\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATTC_CAPACITY: BATTC\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTC_WATT_MAX: BATTC\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTC_SERIAL_NUM: BATTC\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTC_LOW_TIMER: BATTC\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTC_FS_VOLTSRC: BATTC\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATTC_LOW_VOLT: BATTC\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTC_LOW_MAH: BATTC\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTC_CRT_VOLT: BATTC\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTC_CRT_MAH: BATTC\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTC_FS_LOW_ACT: BATTC\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTC_FS_CRT_ACT: BATTC\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTC_ARM_VOLT: BATTC\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTC_ARM_MAH: BATTC\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTC\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTC_OPTIONS: BATTC\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATTC_ESC_INDEX: BATTC\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATTC_VOLT_PIN__AP_BattMonitor_Analog: BATTC\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTC_CURR_PIN__AP_BattMonitor_Analog: BATTC\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTC_VOLT_MULT__AP_BattMonitor_Analog: BATTC\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTC\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATTC_AMP_PERVLT__AP_BattMonitor_Analog: BATTC\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTC_AMP_OFFSET__AP_BattMonitor_Analog: BATTC\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTC_VLT_OFFSET__AP_BattMonitor_Analog: BATTC\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTC_I2C_BUS__AP_BattMonitor_SMBus: BATTC\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTC_I2C_ADDR__AP_BattMonitor_SMBus: BATTC\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTC_SUM_MASK: BATTC\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATTC_CURR_MULT: BATTC\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATTC_FL_VLT_MIN: BATTC\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATTC_FL_V_MULT: BATTC\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATTC_FL_FLTR: BATTC\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATTC_FL_PIN: BATTC\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTC_FL_FF: BATTC\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTC_FL_FS: BATTC\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTC_FL_FT: BATTC\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTC_FL_OFF: BATTC\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTC_MAX_VOLT: BATTC\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATTC_I2C_BUS__AP_BattMonitor_INA2xx: BATTC\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTC_I2C_ADDR__AP_BattMonitor_INA2xx: BATTC\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTC_MAX_AMPS__AP_BattMonitor_INA2xx: BATTC\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTC_SHUNT__AP_BattMonitor_INA2xx: BATTC\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTC_ESC_MASK: BATTC\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATTC_MAX_AMPS__AP_BattMonitor_INA239: BATTC\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTC_SHUNT__AP_BattMonitor_INA239: BATTC\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTC_I2C_BUS__AP_BattMonitor_INA3221: BATTC\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTC_I2C_ADDR__AP_BattMonitor_INA3221: BATTC\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTC_CHANNEL: BATTC\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATTC_VOLT_PIN__AP_BattMonitor_AD7091R5: BATTC\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTC_CURR_PIN__AP_BattMonitor_AD7091R5: BATTC\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTC_VOLT_MULT__AP_BattMonitor_AD7091R5: BATTC\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTC\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATTC_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATTC\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTC_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATTC\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATTC_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATTC\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATTC_CFG_UPDATE: BATTC\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATTD_: BATTD\_ Parameters ------------------ .. _BATTD_MONITOR: BATTD\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATTD_CAPACITY: BATTD\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTD_WATT_MAX: BATTD\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTD_SERIAL_NUM: BATTD\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTD_LOW_TIMER: BATTD\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTD_FS_VOLTSRC: BATTD\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATTD_LOW_VOLT: BATTD\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTD_LOW_MAH: BATTD\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTD_CRT_VOLT: BATTD\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTD_CRT_MAH: BATTD\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTD_FS_LOW_ACT: BATTD\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTD_FS_CRT_ACT: BATTD\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTD_ARM_VOLT: BATTD\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTD_ARM_MAH: BATTD\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTD\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTD_OPTIONS: BATTD\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATTD_ESC_INDEX: BATTD\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATTD_VOLT_PIN__AP_BattMonitor_Analog: BATTD\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTD_CURR_PIN__AP_BattMonitor_Analog: BATTD\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTD_VOLT_MULT__AP_BattMonitor_Analog: BATTD\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTD\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATTD_AMP_PERVLT__AP_BattMonitor_Analog: BATTD\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTD_AMP_OFFSET__AP_BattMonitor_Analog: BATTD\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTD_VLT_OFFSET__AP_BattMonitor_Analog: BATTD\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTD_I2C_BUS__AP_BattMonitor_SMBus: BATTD\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTD_I2C_ADDR__AP_BattMonitor_SMBus: BATTD\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTD_SUM_MASK: BATTD\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATTD_CURR_MULT: BATTD\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATTD_FL_VLT_MIN: BATTD\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATTD_FL_V_MULT: BATTD\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATTD_FL_FLTR: BATTD\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATTD_FL_PIN: BATTD\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTD_FL_FF: BATTD\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTD_FL_FS: BATTD\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTD_FL_FT: BATTD\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTD_FL_OFF: BATTD\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTD_MAX_VOLT: BATTD\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATTD_I2C_BUS__AP_BattMonitor_INA2xx: BATTD\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTD_I2C_ADDR__AP_BattMonitor_INA2xx: BATTD\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTD_MAX_AMPS__AP_BattMonitor_INA2xx: BATTD\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTD_SHUNT__AP_BattMonitor_INA2xx: BATTD\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTD_ESC_MASK: BATTD\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATTD_MAX_AMPS__AP_BattMonitor_INA239: BATTD\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTD_SHUNT__AP_BattMonitor_INA239: BATTD\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTD_I2C_BUS__AP_BattMonitor_INA3221: BATTD\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTD_I2C_ADDR__AP_BattMonitor_INA3221: BATTD\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTD_CHANNEL: BATTD\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATTD_VOLT_PIN__AP_BattMonitor_AD7091R5: BATTD\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTD_CURR_PIN__AP_BattMonitor_AD7091R5: BATTD\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTD_VOLT_MULT__AP_BattMonitor_AD7091R5: BATTD\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTD\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATTD_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATTD\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTD_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATTD\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATTD_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATTD\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATTD_CFG_UPDATE: BATTD\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATTE_: BATTE\_ Parameters ------------------ .. _BATTE_MONITOR: BATTE\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATTE_CAPACITY: BATTE\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTE_WATT_MAX: BATTE\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTE_SERIAL_NUM: BATTE\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTE_LOW_TIMER: BATTE\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTE_FS_VOLTSRC: BATTE\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATTE_LOW_VOLT: BATTE\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTE_LOW_MAH: BATTE\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTE_CRT_VOLT: BATTE\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTE_CRT_MAH: BATTE\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTE_FS_LOW_ACT: BATTE\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTE_FS_CRT_ACT: BATTE\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTE_ARM_VOLT: BATTE\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTE_ARM_MAH: BATTE\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTE\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTE_OPTIONS: BATTE\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATTE_ESC_INDEX: BATTE\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATTE_VOLT_PIN__AP_BattMonitor_Analog: BATTE\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTE_CURR_PIN__AP_BattMonitor_Analog: BATTE\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTE_VOLT_MULT__AP_BattMonitor_Analog: BATTE\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTE\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATTE_AMP_PERVLT__AP_BattMonitor_Analog: BATTE\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTE_AMP_OFFSET__AP_BattMonitor_Analog: BATTE\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTE_VLT_OFFSET__AP_BattMonitor_Analog: BATTE\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTE_I2C_BUS__AP_BattMonitor_SMBus: BATTE\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTE_I2C_ADDR__AP_BattMonitor_SMBus: BATTE\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTE_SUM_MASK: BATTE\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATTE_CURR_MULT: BATTE\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATTE_FL_VLT_MIN: BATTE\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATTE_FL_V_MULT: BATTE\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATTE_FL_FLTR: BATTE\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATTE_FL_PIN: BATTE\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTE_FL_FF: BATTE\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTE_FL_FS: BATTE\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTE_FL_FT: BATTE\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTE_FL_OFF: BATTE\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTE_MAX_VOLT: BATTE\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATTE_I2C_BUS__AP_BattMonitor_INA2xx: BATTE\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTE_I2C_ADDR__AP_BattMonitor_INA2xx: BATTE\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTE_MAX_AMPS__AP_BattMonitor_INA2xx: BATTE\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTE_SHUNT__AP_BattMonitor_INA2xx: BATTE\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTE_ESC_MASK: BATTE\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATTE_MAX_AMPS__AP_BattMonitor_INA239: BATTE\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTE_SHUNT__AP_BattMonitor_INA239: BATTE\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTE_I2C_BUS__AP_BattMonitor_INA3221: BATTE\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTE_I2C_ADDR__AP_BattMonitor_INA3221: BATTE\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTE_CHANNEL: BATTE\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATTE_VOLT_PIN__AP_BattMonitor_AD7091R5: BATTE\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTE_CURR_PIN__AP_BattMonitor_AD7091R5: BATTE\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTE_VOLT_MULT__AP_BattMonitor_AD7091R5: BATTE\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTE\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATTE_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATTE\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTE_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATTE\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATTE_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATTE\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATTE_CFG_UPDATE: BATTE\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATTF_: BATTF\_ Parameters ------------------ .. _BATTF_MONITOR: BATTF\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATTF_CAPACITY: BATTF\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTF_WATT_MAX: BATTF\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTF_SERIAL_NUM: BATTF\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTF_LOW_TIMER: BATTF\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTF_FS_VOLTSRC: BATTF\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATTF_LOW_VOLT: BATTF\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTF_LOW_MAH: BATTF\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTF_CRT_VOLT: BATTF\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTF_CRT_MAH: BATTF\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTF_FS_LOW_ACT: BATTF\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTF_FS_CRT_ACT: BATTF\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTF_ARM_VOLT: BATTF\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTF_ARM_MAH: BATTF\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTF\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTF_OPTIONS: BATTF\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATTF_ESC_INDEX: BATTF\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATTF_VOLT_PIN__AP_BattMonitor_Analog: BATTF\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTF_CURR_PIN__AP_BattMonitor_Analog: BATTF\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTF_VOLT_MULT__AP_BattMonitor_Analog: BATTF\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTF\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATTF_AMP_PERVLT__AP_BattMonitor_Analog: BATTF\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTF_AMP_OFFSET__AP_BattMonitor_Analog: BATTF\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTF_VLT_OFFSET__AP_BattMonitor_Analog: BATTF\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTF_I2C_BUS__AP_BattMonitor_SMBus: BATTF\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTF_I2C_ADDR__AP_BattMonitor_SMBus: BATTF\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTF_SUM_MASK: BATTF\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATTF_CURR_MULT: BATTF\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATTF_FL_VLT_MIN: BATTF\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATTF_FL_V_MULT: BATTF\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATTF_FL_FLTR: BATTF\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATTF_FL_PIN: BATTF\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTF_FL_FF: BATTF\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTF_FL_FS: BATTF\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTF_FL_FT: BATTF\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTF_FL_OFF: BATTF\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTF_MAX_VOLT: BATTF\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATTF_I2C_BUS__AP_BattMonitor_INA2xx: BATTF\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTF_I2C_ADDR__AP_BattMonitor_INA2xx: BATTF\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTF_MAX_AMPS__AP_BattMonitor_INA2xx: BATTF\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTF_SHUNT__AP_BattMonitor_INA2xx: BATTF\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTF_ESC_MASK: BATTF\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATTF_MAX_AMPS__AP_BattMonitor_INA239: BATTF\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTF_SHUNT__AP_BattMonitor_INA239: BATTF\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTF_I2C_BUS__AP_BattMonitor_INA3221: BATTF\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTF_I2C_ADDR__AP_BattMonitor_INA3221: BATTF\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTF_CHANNEL: BATTF\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATTF_VOLT_PIN__AP_BattMonitor_AD7091R5: BATTF\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTF_CURR_PIN__AP_BattMonitor_AD7091R5: BATTF\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTF_VOLT_MULT__AP_BattMonitor_AD7091R5: BATTF\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTF\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATTF_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATTF\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTF_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATTF\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATTF_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATTF\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATTF_CFG_UPDATE: BATTF\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATTG_: BATTG\_ Parameters ------------------ .. _BATTG_MONITOR: BATTG\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATTG_CAPACITY: BATTG\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTG_WATT_MAX: BATTG\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTG_SERIAL_NUM: BATTG\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTG_LOW_TIMER: BATTG\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTG_FS_VOLTSRC: BATTG\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATTG_LOW_VOLT: BATTG\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTG_LOW_MAH: BATTG\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTG_CRT_VOLT: BATTG\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTG_CRT_MAH: BATTG\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTG_FS_LOW_ACT: BATTG\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTG_FS_CRT_ACT: BATTG\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATTG_ARM_VOLT: BATTG\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATTG_ARM_MAH: BATTG\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTG\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATTG_OPTIONS: BATTG\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATTG_ESC_INDEX: BATTG\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATTG_VOLT_PIN__AP_BattMonitor_Analog: BATTG\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTG_CURR_PIN__AP_BattMonitor_Analog: BATTG\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTG_VOLT_MULT__AP_BattMonitor_Analog: BATTG\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTG\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATTG_AMP_PERVLT__AP_BattMonitor_Analog: BATTG\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTG_AMP_OFFSET__AP_BattMonitor_Analog: BATTG\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTG_VLT_OFFSET__AP_BattMonitor_Analog: BATTG\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATTG_I2C_BUS__AP_BattMonitor_SMBus: BATTG\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTG_I2C_ADDR__AP_BattMonitor_SMBus: BATTG\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTG_SUM_MASK: BATTG\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATTG_CURR_MULT: BATTG\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATTG_FL_VLT_MIN: BATTG\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATTG_FL_V_MULT: BATTG\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATTG_FL_FLTR: BATTG\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATTG_FL_PIN: BATTG\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTG_FL_FF: BATTG\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTG_FL_FS: BATTG\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTG_FL_FT: BATTG\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTG_FL_OFF: BATTG\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATTG_MAX_VOLT: BATTG\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATTG_I2C_BUS__AP_BattMonitor_INA2xx: BATTG\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTG_I2C_ADDR__AP_BattMonitor_INA2xx: BATTG\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTG_MAX_AMPS__AP_BattMonitor_INA2xx: BATTG\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTG_SHUNT__AP_BattMonitor_INA2xx: BATTG\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTG_ESC_MASK: BATTG\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATTG_MAX_AMPS__AP_BattMonitor_INA239: BATTG\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATTG_SHUNT__AP_BattMonitor_INA239: BATTG\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATTG_I2C_BUS__AP_BattMonitor_INA3221: BATTG\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATTG_I2C_ADDR__AP_BattMonitor_INA3221: BATTG\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATTG_CHANNEL: BATTG\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATTG_VOLT_PIN__AP_BattMonitor_AD7091R5: BATTG\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTG_CURR_PIN__AP_BattMonitor_AD7091R5: BATTG\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATTG_VOLT_MULT__AP_BattMonitor_AD7091R5: BATTG\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATTG\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATTG_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATTG\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATTG_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATTG\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATTG_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATTG\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATTG_CFG_UPDATE: BATTG\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BATT_: BATT\_ Parameters ----------------- .. _BATT_MONITOR: BATT\_MONITOR: Battery monitoring ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Controls enabling monitoring of the battery\'s voltage and current +-------+---------------------------------------------+ | Value | Meaning | +=======+=============================================+ | 0 | Disabled | +-------+---------------------------------------------+ | 3 | Analog Voltage Only | +-------+---------------------------------------------+ | 4 | Analog Voltage and Current | +-------+---------------------------------------------+ | 5 | Solo | +-------+---------------------------------------------+ | 6 | Bebop | +-------+---------------------------------------------+ | 7 | SMBus-Generic | +-------+---------------------------------------------+ | 8 | DroneCAN-BatteryInfo | +-------+---------------------------------------------+ | 9 | ESC | +-------+---------------------------------------------+ | 10 | Sum Of Selected Monitors | +-------+---------------------------------------------+ | 11 | FuelFlow | +-------+---------------------------------------------+ | 12 | FuelLevelPWM | +-------+---------------------------------------------+ | 13 | SMBUS-SUI3 | +-------+---------------------------------------------+ | 14 | SMBUS-SUI6 | +-------+---------------------------------------------+ | 15 | NeoDesign | +-------+---------------------------------------------+ | 16 | SMBus-Maxell | +-------+---------------------------------------------+ | 17 | Generator-Elec | +-------+---------------------------------------------+ | 18 | Generator-Fuel | +-------+---------------------------------------------+ | 19 | Rotoye | +-------+---------------------------------------------+ | 20 | MPPT | +-------+---------------------------------------------+ | 21 | INA2XX (INA226 INA228 INA238 INA231 INA260) | +-------+---------------------------------------------+ | 22 | LTC2946 | +-------+---------------------------------------------+ | 23 | Torqeedo | +-------+---------------------------------------------+ | 24 | FuelLevelAnalog | +-------+---------------------------------------------+ | 25 | Synthetic Current and Analog Voltage | +-------+---------------------------------------------+ | 26 | INA239_SPI | +-------+---------------------------------------------+ | 27 | EFI | +-------+---------------------------------------------+ | 28 | AD7091R5 | +-------+---------------------------------------------+ | 29 | Scripting | +-------+---------------------------------------------+ | 30 | INA3221 | +-------+---------------------------------------------+ | 31 | Analog Current Only | +-------+---------------------------------------------+ | 32 | TIBQ76952-I2C (Periph only) | +-------+---------------------------------------------+ .. _BATT_CAPACITY: BATT\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Capacity of the battery in mAh when full +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT_WATT_MAX: BATT\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT_SERIAL_NUM: BATT\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT_LOW_TIMER: BATT\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT_FS_VOLTSRC: BATT\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Raw Voltage | +-------+-------------------------+ | 1 | Sag Compensated Voltage | +-------+-------------------------+ .. _BATT_LOW_VOLT: BATT\_LOW\_VOLT: Low battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT_LOW_MAH: BATT\_LOW\_MAH: Low battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT_CRT_VOLT: BATT\_CRT\_VOLT: Critical battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT_CRT_MAH: BATT\_CRT\_MAH: Battery critical capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT_FS_LOW_ACT: BATT\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT_FS_CRT_ACT: BATT\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Warn only | +-------+------------------+ | 1 | RTL | +-------+------------------+ | 2 | Hold | +-------+------------------+ | 3 | SmartRTL | +-------+------------------+ | 4 | SmartRTL or Hold | +-------+------------------+ | 5 | Terminate | +-------+------------------+ | 6 | Loiter or Hold | +-------+------------------+ .. _BATT_ARM_VOLT: BATT\_ARM\_VOLT: Required arming voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. +-----------+-------+ | Increment | Units | +===========+=======+ | 0.1 | volt | +-----------+-------+ .. _BATT_ARM_MAH: BATT\_ARM\_MAH: Required arming remaining capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT\_ARM\_VOLT parameter\. +-----------+------------------+ | Increment | Units | +===========+==================+ | 50 | milliampere hour | +-----------+------------------+ .. _BATT_OPTIONS: BATT\_OPTIONS: Battery monitor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the battery monitor +-----+---------------------------------------------------------+ | Bit | Meaning | +=====+=========================================================+ | 0 | Ignore DroneCAN SoC | +-----+---------------------------------------------------------+ | 1 | MPPT reports input voltage and current | +-----+---------------------------------------------------------+ | 2 | MPPT Powered off when disarmed | +-----+---------------------------------------------------------+ | 3 | MPPT Powered on when armed | +-----+---------------------------------------------------------+ | 4 | MPPT Powered off at boot | +-----+---------------------------------------------------------+ | 5 | MPPT Powered on at boot | +-----+---------------------------------------------------------+ | 6 | Send resistance compensated voltage to GCS | +-----+---------------------------------------------------------+ | 7 | Allow DroneCAN InfoAux to be from a different CAN node | +-----+---------------------------------------------------------+ | 8 | Battery is for internal autopilot use only | +-----+---------------------------------------------------------+ | 9 | Sum monitor measures minimum voltage instead of average | +-----+---------------------------------------------------------+ | 10 | Allow DroneCAN dynamic node update on hot-swap | +-----+---------------------------------------------------------+ .. _BATT_ESC_INDEX: BATT\_ESC\_INDEX: ESC Telemetry Index to write to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BATT_VOLT_PIN__AP_BattMonitor_Analog: BATT\_VOLT\_PIN \(AP\_BattMonitor\_Analog\): Battery Voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT_CURR_PIN__AP_BattMonitor_Analog: BATT\_CURR\_PIN \(AP\_BattMonitor\_Analog\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for current monitoring\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 4 | CubeOrange_PM2/Navigator | +-------+--------------------------------------+ | 14 | Pixhawk2_PM2 | +-------+--------------------------------------+ | 15 | CubeOrange | +-------+--------------------------------------+ | 17 | Durandal | +-------+--------------------------------------+ | 101 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT_VOLT_MULT__AP_BattMonitor_Analog: BATT\_VOLT\_MULT \(AP\_BattMonitor\_Analog\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. .. _BATT_AMP_PERVLT__AP_BattMonitor_Analog: BATT\_AMP\_PERVLT \(AP\_BattMonitor\_Analog\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT_AMP_OFFSET__AP_BattMonitor_Analog: BATT\_AMP\_OFFSET \(AP\_BattMonitor\_Analog\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT_VLT_OFFSET__AP_BattMonitor_Analog: BATT\_VLT\_OFFSET \(AP\_BattMonitor\_Analog\): Voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. +-------+ | Units | +=======+ | volt | +-------+ .. _BATT_I2C_BUS__AP_BattMonitor_SMBus: BATT\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT_I2C_ADDR__AP_BattMonitor_SMBus: BATT\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT_SUM_MASK: BATT\_SUM\_MASK: Battery Sum mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | monitor 1 | +-----+-----------+ | 1 | monitor 2 | +-----+-----------+ | 2 | monitor 3 | +-----+-----------+ | 3 | monitor 4 | +-----+-----------+ | 4 | monitor 5 | +-----+-----------+ | 5 | monitor 6 | +-----+-----------+ | 6 | monitor 7 | +-----+-----------+ | 7 | monitor 8 | +-----+-----------+ | 8 | monitor 9 | +-----+-----------+ .. _BATT_CURR_MULT: BATT\_CURR\_MULT: Scales reported power monitor current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications +-----------+ | Range | +===========+ | 0.1 to 10 | +-----------+ .. _BATT_FL_VLT_MIN: BATT\_FL\_VLT\_MIN: Empty fuel level voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+-------+ | Range | Units | +============+=======+ | 0.01 to 10 | volt | +------------+-------+ .. _BATT_FL_V_MULT: BATT\_FL\_V\_MULT: Fuel level voltage multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. +------------+ | Range | +============+ | 0.01 to 10 | +------------+ .. _BATT_FL_FLTR: BATT\_FL\_FLTR: Fuel level filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. +---------+-------+ | Range | Units | +=========+=======+ | -1 to 1 | hertz | +---------+-------+ .. _BATT_FL_PIN: BATT\_FL\_PIN: Fuel level analog pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT_FL_FF: BATT\_FL\_FF: First order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT_FL_FS: BATT\_FL\_FS: Second order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT_FL_FT: BATT\_FL\_FT: Third order term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third order polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT_FL_OFF: BATT\_FL\_OFF: Offset term ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset polynomial fit term +-----------+ | Range | +===========+ | -10 to 10 | +-----------+ .. _BATT_MAX_VOLT: BATT\_MAX\_VOLT: Maximum Battery Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum voltage of battery\. Provides scaling of current versus voltage +----------+ | Range | +==========+ | 7 to 100 | +----------+ .. _BATT_I2C_BUS__AP_BattMonitor_INA2xx: BATT\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT_I2C_ADDR__AP_BattMonitor_INA2xx: BATT\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address in decimal\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT_MAX_AMPS__AP_BattMonitor_INA2xx: BATT\_MAX\_AMPS \(AP\_BattMonitor\_INA2xx\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INS2XX sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT_SHUNT__AP_BattMonitor_INA2xx: BATT\_SHUNT \(AP\_BattMonitor\_INA2xx\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT_ESC_MASK: BATT\_ESC\_MASK: ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~ If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _BATT_MAX_AMPS__AP_BattMonitor_INA239: BATT\_MAX\_AMPS \(AP\_BattMonitor\_INA239\): Battery monitor max current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum current the INA239 sensor will work with\. +----------+--------+ | Range | Units | +==========+========+ | 1 to 400 | ampere | +----------+--------+ .. _BATT_SHUNT__AP_BattMonitor_INA239: BATT\_SHUNT \(AP\_BattMonitor\_INA239\): Battery monitor shunt resistor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the shunt resistor used in the device +-----------+----------------+-------+ | Increment | Range | Units | +===========+================+=======+ | 0.0001 | 0.0001 to 0.01 | Ohm | +-----------+----------------+-------+ .. _BATT_I2C_BUS__AP_BattMonitor_INA3221: BATT\_I2C\_BUS \(AP\_BattMonitor\_INA3221\): Battery monitor I2C bus number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _BATT_I2C_ADDR__AP_BattMonitor_INA3221: BATT\_I2C\_ADDR \(AP\_BattMonitor\_INA3221\): Battery monitor I2C address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Battery monitor I2C address\. If this is zero then probe list of supported addresses +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BATT_CHANNEL: BATT\_CHANNEL: INA3221 channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* INA3221 channel to return data for +--------+ | Range | +========+ | 1 to 3 | +--------+ .. _BATT_VOLT_PIN__AP_BattMonitor_AD7091R5: BATT\_VOLT\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Voltage sensing pin on the AD7091R5 Ic ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for voltage monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT_CURR_PIN__AP_BattMonitor_AD7091R5: BATT\_CURR\_PIN \(AP\_BattMonitor\_AD7091R5\): Battery Current sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets the analog input pin that should be used for Current monitoring on AD7091R5\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BATT_VOLT_MULT__AP_BattMonitor_AD7091R5: BATT\_VOLT\_MULT \(AP\_BattMonitor\_AD7091R5\): Voltage Multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. .. _BATT_AMP_PERVLT__AP_BattMonitor_AD7091R5: BATT\_AMP\_PERVLT \(AP\_BattMonitor\_AD7091R5\): Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of amps that a 1V reading on the current sensor corresponds to\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _BATT_AMP_OFFSET__AP_BattMonitor_AD7091R5: BATT\_AMP\_OFFSET \(AP\_BattMonitor\_AD7091R5\): AMP offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on current sensor +-------+ | Units | +=======+ | volt | +-------+ .. _BATT_VLT_OFFSET__AP_BattMonitor_AD7091R5: BATT\_VLT\_OFFSET \(AP\_BattMonitor\_AD7091R5\): Volage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied +-------+ | Units | +=======+ | volt | +-------+ .. _BATT_CFG_UPDATE: BATT\_CFG\_UPDATE: Battery BMS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls startup configuration behavior\. 1 writes configuration once then clears to 0\. 2 checks current configuration and writes only if needed\. +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | Disabled | +-------+----------------------------+ | 1 | Write configuration once | +-------+----------------------------+ | 2 | Check and update if needed | +-------+----------------------------+ .. _parameters_BCN: BCN Parameters -------------- .. _BCN_TYPE: BCN\_TYPE: Beacon based position estimation device type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* What type of beacon based position estimation device is connected +-------+------------+ | Value | Meaning | +=======+============+ | 0 | None | +-------+------------+ | 1 | Pozyx | +-------+------------+ | 2 | Marvelmind | +-------+------------+ | 3 | Nooploop | +-------+------------+ | 10 | SITL | +-------+------------+ .. _BCN_LATITUDE: BCN\_LATITUDE: Beacon origin\'s latitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Beacon origin\'s latitude +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 0.000001 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _BCN_LONGITUDE: BCN\_LONGITUDE: Beacon origin\'s longitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Beacon origin\'s longitude +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 0.000001 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _BCN_ALT: BCN\_ALT: Beacon origin\'s altitude above sealevel in meters ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Beacon origin\'s altitude above sealevel in meters +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 1 | 0 to 10000 | meters | +-----------+------------+--------+ .. _BCN_ORIENT_YAW: BCN\_ORIENT\_YAW: Beacon systems rotation from north in degrees ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Beacon systems rotation from north in degrees +-----------+--------------+---------+ | Increment | Range | Units | +===========+==============+=========+ | 1 | -180 to +180 | degrees | +-----------+--------------+---------+ .. _parameters_BRD_: BRD\_ Parameters ---------------- .. _BRD_SER1_RTSCTS: BRD\_SER1\_RTSCTS: Serial 1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 1 \(telemetry 1\)\. 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 | +-------+------------------------------+ | 3 | RS-485 Driver enable RTS pin | +-------+------------------------------+ .. _BRD_SER2_RTSCTS: BRD\_SER2\_RTSCTS: Serial 2 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 2 \(telemetry 2\)\. 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 | +-------+------------------------------+ | 3 | RS-485 Driver enable RTS pin | +-------+------------------------------+ .. _BRD_SER3_RTSCTS: BRD\_SER3\_RTSCTS: Serial 3 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 3\. 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 | +-------+------------------------------+ | 3 | RS-485 Driver enable RTS pin | +-------+------------------------------+ .. _BRD_SER4_RTSCTS: BRD\_SER4\_RTSCTS: Serial 4 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 4\. 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 | +-------+------------------------------+ | 3 | RS-485 Driver enable RTS pin | +-------+------------------------------+ .. _BRD_SER5_RTSCTS: BRD\_SER5\_RTSCTS: Serial 5 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 5\. 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 | +-------+------------------------------+ | 3 | RS-485 Driver enable RTS pin | +-------+------------------------------+ .. _BRD_SER6_RTSCTS: BRD\_SER6\_RTSCTS: Serial 6 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 6\. 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 | +-------+------------------------------+ | 3 | RS-485 Driver enable RTS pin | +-------+------------------------------+ .. _BRD_SER7_RTSCTS: BRD\_SER7\_RTSCTS: Serial 7 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 7\. 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 | +-------+------------------------------+ | 3 | RS-485 Driver enable RTS pin | +-------+------------------------------+ .. _BRD_SER8_RTSCTS: BRD\_SER8\_RTSCTS: Serial 8 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control on serial 8\. 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\. .. _BRD_SAFETY_DEFLT: BRD\_SAFETY\_DEFLT: Sets default state of the safety switch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This controls the default state of the safety switch at startup\. When set to 1 the safety switch will start in the safe state \(flashing\) at boot\. When set to zero the safety switch will start in the unsafe state \(solid\) at startup\. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch\. The safety state can also be controlled in software using a MAVLink message\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _BRD_SBUS_OUT: BRD\_SBUS\_OUT: SBUS output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the SBUS output frame rate in Hz +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | 50Hz | +-------+----------+ | 2 | 75Hz | +-------+----------+ | 3 | 100Hz | +-------+----------+ | 4 | 150Hz | +-------+----------+ | 5 | 200Hz | +-------+----------+ | 6 | 250Hz | +-------+----------+ | 7 | 300Hz | +-------+----------+ .. _BRD_SERIAL_NUM: BRD\_SERIAL\_NUM: User\-defined serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot +---------------------+ | Range | +=====================+ | -8388608 to 8388607 | +---------------------+ .. _BRD_SAFETY_MASK: BRD\_SAFETY\_MASK: Outputs which ignore the safety switch state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A bitmask which controls what outputs can move while the safety switch has not been pressed +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Output1 | +-----+----------+ | 1 | Output2 | +-----+----------+ | 2 | Output3 | +-----+----------+ | 3 | Output4 | +-----+----------+ | 4 | Output5 | +-----+----------+ | 5 | Output6 | +-----+----------+ | 6 | Output7 | +-----+----------+ | 7 | Output8 | +-----+----------+ | 8 | Output9 | +-----+----------+ | 9 | Output10 | +-----+----------+ | 10 | Output11 | +-----+----------+ | 11 | Output12 | +-----+----------+ | 12 | Output13 | +-----+----------+ | 13 | Output14 | +-----+----------+ | 14 | Output15 | +-----+----------+ | 15 | Output16 | +-----+----------+ | 16 | Output17 | +-----+----------+ | 17 | Output18 | +-----+----------+ | 18 | Output19 | +-----+----------+ | 19 | Output20 | +-----+----------+ | 20 | Output21 | +-----+----------+ | 21 | Output22 | +-----+----------+ | 22 | Output23 | +-----+----------+ | 23 | Output24 | +-----+----------+ | 24 | Output25 | +-----+----------+ | 25 | Output26 | +-----+----------+ | 26 | Output27 | +-----+----------+ | 27 | Output28 | +-----+----------+ | 28 | Output29 | +-----+----------+ | 29 | Output30 | +-----+----------+ | 30 | Output31 | +-----+----------+ | 31 | Output32 | +-----+----------+ .. _BRD_HEAT_TARG: BRD\_HEAT\_TARG: Board heater temperature target ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board heater target temperature for boards with controllable heating units\. Set to \-1 to disable the heater\, please reboot after setting to \-1\. +----------+-----------------+ | Range | Units | +==========+=================+ | -1 to 80 | degrees Celsius | +----------+-----------------+ .. _BRD_TYPE: BRD\_TYPE: Board type ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\) +-------+----------------+ | Value | Meaning | +=======+================+ | 0 | AUTO | +-------+----------------+ | 1 | PX4V1 | +-------+----------------+ | 2 | Pixhawk | +-------+----------------+ | 3 | Cube/Pixhawk2 | +-------+----------------+ | 5 | PixhawkMini | +-------+----------------+ | 6 | Pixhawk2Slim | +-------+----------------+ | 20 | AUAV2.1 | +-------+----------------+ | 100 | PX4 OLDDRIVERS | +-------+----------------+ .. _BRD_IO_ENABLE: BRD\_IO\_ENABLE: Enable IO co\-processor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Disabled | +-------+------------------+ | 1 | Enabled | +-------+------------------+ | 2 | EnableNoFWUpdate | +-------+------------------+ .. _BRD_SAFETYOPTION: BRD\_SAFETYOPTION: Options for safety button behavior ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed +-----+-------------------------------------------+ | Bit | Meaning | +=====+===========================================+ | 0 | ActiveForSafetyDisable | +-----+-------------------------------------------+ | 1 | ActiveForSafetyEnable | +-----+-------------------------------------------+ | 2 | ActiveWhenArmed | +-----+-------------------------------------------+ | 3 | Force safety on when the aircraft disarms | +-----+-------------------------------------------+ .. _BRD_VBUS_MIN: BRD\_VBUS\_MIN: Autopilot board voltage requirement ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum voltage on the autopilot power rail to allow the aircraft to arm\. 0 to disable the check\. +-----------+------------+-------+ | Increment | Range | Units | +===========+============+=======+ | 0.1 | 4.0 to 5.5 | volt | +-----------+------------+-------+ .. _BRD_VSERVO_MIN: BRD\_VSERVO\_MIN: Servo voltage requirement ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum voltage on the servo rail to allow the aircraft to arm\. 0 to disable the check\. +-----------+-------------+-------+ | Increment | Range | Units | +===========+=============+=======+ | 0.1 | 3.3 to 12.0 | volt | +-----------+-------------+-------+ .. _BRD_SD_SLOWDOWN: BRD\_SD\_SLOWDOWN: microSD slowdown ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is a scaling factor to slow down microSD operation\. It can be used on flight board and microSD card combinations where full speed is not reliable\. For normal full speed operation a value of 0 should be used\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 32 | +-----------+---------+ .. _BRD_PWM_VOLT_SEL: BRD\_PWM\_VOLT\_SEL: Set PWM Out Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the voltage max for PWM output pulses\. 0 for 3\.3V and 1 for 5V output\. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs\, not the 6 auxiliary outputs\. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | 3.3V | +-------+---------+ | 1 | 5V | +-------+---------+ .. _BRD_OPTIONS: BRD\_OPTIONS: Board options ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board specific option flags +-----+-------------------------------------------------------+ | Bit | Meaning | +=====+=======================================================+ | 0 | Enable hardware watchdog | +-----+-------------------------------------------------------+ | 1 | Disable MAVftp | +-----+-------------------------------------------------------+ | 2 | Enable set of internal parameters | +-----+-------------------------------------------------------+ | 3 | Enable Debug Pins | +-----+-------------------------------------------------------+ | 4 | Unlock flash on reboot | +-----+-------------------------------------------------------+ | 5 | Write protect firmware flash on reboot | +-----+-------------------------------------------------------+ | 6 | Write protect bootloader flash on reboot | +-----+-------------------------------------------------------+ | 7 | Skip board validation | +-----+-------------------------------------------------------+ | 8 | Disable board arming gpio output change on arm/disarm | +-----+-------------------------------------------------------+ | 9 | Use safety pins as profiled | +-----+-------------------------------------------------------+ .. _BRD_BOOT_DELAY: BRD\_BOOT\_DELAY: Boot delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This adds a delay in milliseconds to boot to ensure peripherals initialise fully +------------+--------------+ | Range | Units | +============+==============+ | 0 to 10000 | milliseconds | +------------+--------------+ .. _BRD_HEAT_P: BRD\_HEAT\_P: Board Heater P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board Heater P gain +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 1 to 500 | +-----------+----------+ .. _BRD_HEAT_I: BRD\_HEAT\_I: Board Heater I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board Heater integrator gain +-----------+--------+ | Increment | Range | +===========+========+ | 0.1 | 0 to 1 | +-----------+--------+ .. _BRD_HEAT_IMAX: BRD\_HEAT\_IMAX: Board Heater IMAX ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board Heater integrator maximum +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 100 | +-----------+----------+ .. _BRD_ALT_CONFIG: BRD\_ALT\_CONFIG: Alternative HW config ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Select an alternative hardware configuration\. A value of zero selects the default configuration for this board\. Other values are board specific\. Please see the documentation for your board for details on any alternative configuration values that may be available\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BRD_HEAT_LOWMGN: BRD\_HEAT\_LOWMGN: Board heater temp lower margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Arming check will fail if temp is lower than this margin below BRD\_HEAT\_TARG\. 0 disables the low temperature check +---------+-----------------+ | Range | Units | +=========+=================+ | 0 to 20 | degrees Celsius | +---------+-----------------+ .. _BRD_SD_MISSION: BRD\_SD\_MISSION: SDCard Mission size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the amount of storage in kilobytes reserved on the microsd card in mission\.stg for waypoint storage\. Each waypoint uses 15 bytes\. +---------+ | Range | +=========+ | 0 to 64 | +---------+ .. _BRD_SD_FENCE: BRD\_SD\_FENCE: SDCard Fence size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the amount of storage in kilobytes reserved on the microsd card in fence\.stg for fence storage\. +---------+ | Range | +=========+ | 0 to 64 | +---------+ .. _BRD_IO_DSHOT: BRD\_IO\_DSHOT: Load DShot FW on IO ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This loads the DShot firmware on the IO co\-processor +-------+------------+ | Value | Meaning | +=======+============+ | 0 | StandardFW | +-------+------------+ | 1 | DshotFW | +-------+------------+ .. _BRD_IDLE_STATS: BRD\_IDLE\_STATS: Capture and calculate true CPU load using idle threads ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Capture and calculate true CPU load using idle threads +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _parameters_BRD_RADIO: BRD\_RADIO Parameters --------------------- .. _BRD_RADIO_TYPE: BRD\_RADIO\_TYPE: Set type of direct attached radio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This enables support for direct attached radio receivers +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | None | +-------+----------+ | 1 | CYRF6936 | +-------+----------+ | 2 | CC2500 | +-------+----------+ | 3 | BK2425 | +-------+----------+ .. _BRD_RADIO_PROT: BRD\_RADIO\_PROT: protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Select air protocol +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Auto | +-------+---------+ | 1 | DSM2 | +-------+---------+ | 2 | DSMX | +-------+---------+ .. _BRD_RADIO_DEBUG: BRD\_RADIO\_DEBUG: debug level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* radio debug level +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _BRD_RADIO_DISCRC: BRD\_RADIO\_DISCRC: disable receive CRC ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* disable receive CRC \(for debug\) +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | NotDisabled | +-------+-------------+ | 1 | Disabled | +-------+-------------+ .. _BRD_RADIO_SIGCH: BRD\_RADIO\_SIGCH: RSSI signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Channel to show receive RSSI signal strength\, or zero for disabled +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _BRD_RADIO_PPSCH: BRD\_RADIO\_PPSCH: Packet rate channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Channel to show received packet\-per\-second rate\, or zero for disabled +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _BRD_RADIO_TELEM: BRD\_RADIO\_TELEM: Enable telemetry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If this is non\-zero then telemetry packets will be sent over DSM +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _BRD_RADIO_TXPOW: BRD\_RADIO\_TXPOW: Telemetry Transmit power ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX +--------+ | Range | +========+ | 1 to 8 | +--------+ .. _BRD_RADIO_FCCTST: BRD\_RADIO\_FCCTST: Put radio into FCC test mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If this is enabled then the radio will continuously transmit as required for FCC testing\. The transmit channel is set by the value of the parameter\. The radio will not work for RC input while this is enabled +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disabled | +-------+--------------+ | 1 | MinChannel | +-------+--------------+ | 2 | MidChannel | +-------+--------------+ | 3 | MaxChannel | +-------+--------------+ | 4 | MinChannelCW | +-------+--------------+ | 5 | MidChannelCW | +-------+--------------+ | 6 | MaxChannelCW | +-------+--------------+ .. _BRD_RADIO_STKMD: BRD\_RADIO\_STKMD: Stick input mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This selects between different stick input modes\. The default is mode2\, which has throttle on the left stick and pitch on the right stick\. You can instead set mode1\, which has throttle on the right stick and pitch on the left stick\. +-------+---------+ | Value | Meaning | +=======+=========+ | 1 | Mode1 | +-------+---------+ | 2 | Mode2 | +-------+---------+ | 3 | Mode3 | +-------+---------+ | 4 | Mode4 | +-------+---------+ .. _BRD_RADIO_TESTCH: BRD\_RADIO\_TESTCH: Set radio to factory test channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the radio to a fixed test channel for factory testing\. Using a fixed channel avoids the need for binding in factory testing\. +-------+-----------+ | Value | Meaning | +=======+===========+ | 0 | Disabled | +-------+-----------+ | 1 | TestChan1 | +-------+-----------+ | 2 | TestChan2 | +-------+-----------+ | 3 | TestChan3 | +-------+-----------+ | 4 | TestChan4 | +-------+-----------+ | 5 | TestChan5 | +-------+-----------+ | 6 | TestChan6 | +-------+-----------+ | 7 | TestChan7 | +-------+-----------+ | 8 | TestChan8 | +-------+-----------+ .. _BRD_RADIO_TSIGCH: BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Channel to show telemetry RSSI value as received by TX +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _BRD_RADIO_TPPSCH: BRD\_RADIO\_TPPSCH: Telemetry PPS channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Channel to show telemetry packets\-per\-second value\, as received at TX +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _BRD_RADIO_TXMAX: BRD\_RADIO\_TXMAX: Transmitter transmit power ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Set transmitter maximum transmit power \(from 1 to 8\) +--------+ | Range | +========+ | 1 to 8 | +--------+ .. _BRD_RADIO_BZOFS: BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Set transmitter buzzer note adjustment \(adjust frequency up\) +---------+ | Range | +=========+ | 0 to 40 | +---------+ .. _BRD_RADIO_ABTIME: BRD\_RADIO\_ABTIME: Auto\-bind time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\. +----------+ | Range | +==========+ | 0 to 120 | +----------+ .. _BRD_RADIO_ABLVL: BRD\_RADIO\_ABLVL: Auto\-bind level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially +---------+ | Range | +=========+ | 0 to 31 | +---------+ .. _parameters_BRD_RTC: BRD\_RTC Parameters ------------------- .. _BRD_RTC_TYPES: BRD\_RTC\_TYPES: Allowed sources of RTC time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies which sources of UTC time will be accepted +-----+---------------------+ | Bit | Meaning | +=====+=====================+ | 0 | GPS | +-----+---------------------+ | 1 | MAVLINK_SYSTEM_TIME | +-----+---------------------+ | 2 | HW | +-----+---------------------+ .. _BRD_RTC_TZ_MIN: BRD\_RTC\_TZ\_MIN: Timezone offset from UTC ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Adds offset in \+\- minutes from UTC to calculate local time +--------------+ | Range | +==============+ | -720 to +840 | +--------------+ .. _parameters_BTN_: BTN\_ Parameters ---------------- .. _BTN_ENABLE: BTN\_ENABLE: Enable button reporting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the button checking module\. When this is disabled the parameters for setting button inputs are not visible +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _BTN_PIN1: BTN\_PIN1: First button Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for first button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUXOUT1 | +-------+----------+ | 51 | AUXOUT2 | +-------+----------+ | 52 | AUXOUT3 | +-------+----------+ | 53 | AUXOUT4 | +-------+----------+ | 54 | AUXOUT5 | +-------+----------+ | 55 | AUXOUT6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BTN_PIN2: BTN\_PIN2: Second button Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for second button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUXOUT1 | +-------+----------+ | 51 | AUXOUT2 | +-------+----------+ | 52 | AUXOUT3 | +-------+----------+ | 53 | AUXOUT4 | +-------+----------+ | 54 | AUXOUT5 | +-------+----------+ | 55 | AUXOUT6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BTN_PIN3: BTN\_PIN3: Third button Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for third button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUXOUT1 | +-------+----------+ | 51 | AUXOUT2 | +-------+----------+ | 52 | AUXOUT3 | +-------+----------+ | 53 | AUXOUT4 | +-------+----------+ | 54 | AUXOUT5 | +-------+----------+ | 55 | AUXOUT6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BTN_PIN4: BTN\_PIN4: Fourth button Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for fourth button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUXOUT1 | +-------+----------+ | 51 | AUXOUT2 | +-------+----------+ | 52 | AUXOUT3 | +-------+----------+ | 53 | AUXOUT4 | +-------+----------+ | 54 | AUXOUT5 | +-------+----------+ | 55 | AUXOUT6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _BTN_REPORT_SEND: BTN\_REPORT\_SEND: Report send time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The duration in seconds that a BUTTON\_CHANGE report is repeatedly sent to the GCS regarding a button changing state\. Note that the BUTTON\_CHANGE message is MAVLink2 only\. +-----------+ | Range | +===========+ | 0 to 3600 | +-----------+ .. _BTN_OPTIONS1: BTN\_OPTIONS1: Button Pin 1 Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for Pin 1\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. +-----+-------------+ | Bit | Meaning | +=====+=============+ | 0 | PWM Input | +-----+-------------+ | 1 | InvertInput | +-----+-------------+ .. _BTN_OPTIONS2: BTN\_OPTIONS2: Button Pin 2 Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for Pin 2\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. +-----+-------------+ | Bit | Meaning | +=====+=============+ | 0 | PWM Input | +-----+-------------+ | 1 | InvertInput | +-----+-------------+ .. _BTN_OPTIONS3: BTN\_OPTIONS3: Button Pin 3 Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for Pin 3\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. +-----+-------------+ | Bit | Meaning | +=====+=============+ | 0 | PWM Input | +-----+-------------+ | 1 | InvertInput | +-----+-------------+ .. _BTN_OPTIONS4: BTN\_OPTIONS4: Button Pin 4 Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for Pin 4\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. +-----+-------------+ | Bit | Meaning | +=====+=============+ | 0 | PWM Input | +-----+-------------+ | 1 | InvertInput | +-----+-------------+ .. _BTN_FUNC1: BTN\_FUNC1: Button Pin 1 RC Channel function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auxiliary RC Options function executed on pin change +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _BTN_FUNC2: BTN\_FUNC2: Button Pin 2 RC Channel function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auxiliary RC Options function executed on pin change +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _BTN_FUNC3: BTN\_FUNC3: Button Pin 3 RC Channel function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auxiliary RC Options function executed on pin change +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _BTN_FUNC4: BTN\_FUNC4: Button Pin 4 RC Channel function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auxiliary RC Options function executed on pin change +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_CAM: CAM Parameters -------------- .. _CAM_MAX_ROLL: CAM\_MAX\_ROLL: Maximum photo roll angle\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Postpone shooting if roll is greater than limit\. \(0\=Disable\, will shoot regardless of roll\)\. +----------+---------+ | Range | Units | +==========+=========+ | 0 to 180 | degrees | +----------+---------+ .. _CAM_AUTO_ONLY: CAM\_AUTO\_ONLY: Distance\-trigging in AUTO mode only ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled\, trigging by distance is done in AUTO mode only\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Always | +-------+-------------------+ | 1 | Only when in AUTO | +-------+-------------------+ .. _parameters_CAM1: CAM1 Parameters --------------- .. _CAM1_TYPE: CAM1\_TYPE: Camera shutter \(trigger\) type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* how to trigger the camera to take a picture +-------+------------------------------------+ | Value | Meaning | +=======+====================================+ | 0 | None | +-------+------------------------------------+ | 1 | Servo | +-------+------------------------------------+ | 2 | Relay | +-------+------------------------------------+ | 3 | GoPro in Solo Gimbal | +-------+------------------------------------+ | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | +-------+------------------------------------+ | 5 | MAVLink | +-------+------------------------------------+ | 6 | MAVLinkCamV2 (Gremsy/AVT) | +-------+------------------------------------+ | 7 | Scripting | +-------+------------------------------------+ | 8 | RunCam | +-------+------------------------------------+ .. _CAM1_DURATION: CAM1\_DURATION: Camera shutter duration held open ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Duration in seconds that the camera shutter is held open +--------+---------+ | Range | Units | +========+=========+ | 0 to 5 | seconds | +--------+---------+ .. _CAM1_SERVO_ON: CAM1\_SERVO\_ON: Camera servo ON PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value in microseconds to move servo to when shutter is activated +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _CAM1_SERVO_OFF: CAM1\_SERVO\_OFF: Camera servo OFF PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value in microseconds to move servo to when shutter is deactivated +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _CAM1_TRIGG_DIST: CAM1\_TRIGG\_DIST: Camera trigger distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the 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 | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _CAM1_RELAY_ON: CAM1\_RELAY\_ON: Camera relay ON value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Low | +-------+---------+ | 1 | High | +-------+---------+ .. _CAM1_INTRVAL_MIN: CAM1\_INTRVAL\_MIN: Camera minimum time interval between photos ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Postpone shooting if previous picture was taken less than this many seconds ago +---------+---------+ | Range | Units | +=========+=========+ | 0 to 10 | seconds | +---------+---------+ .. _CAM1_FEEDBAK_PIN: CAM1\_FEEDBAK\_PIN: Camera feedback pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _CAM1_FEEDBAK_POL: CAM1\_FEEDBAK\_POL: Camera feedback pin polarity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | TriggerLow | +-------+-------------+ | 1 | TriggerHigh | +-------+-------------+ .. _CAM1_OPTIONS: CAM1\_OPTIONS: Camera options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera options bitmask +-----+---------------------------------------------------+ | Bit | Meaning | +=====+===================================================+ | 0 | Recording Starts at arming and stops at disarming | +-----+---------------------------------------------------+ .. _CAM1_MNT_INST: CAM1\_MNT\_INST: Camera Mount instance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 .. _CAM1_HFOV: CAM1\_HFOV: Camera horizontal field of view ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera horizontal field of view\. 0 if unknown +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _CAM1_VFOV: CAM1\_VFOV: Camera vertical field of view ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera vertical field of view\. 0 if unknown +----------+---------+ | Range | Units | +==========+=========+ | 0 to 180 | degrees | +----------+---------+ .. _CAM1_COMPID: CAM1\_COMPID: MAVLink camera component ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Component ID of the camera when using MAVLinkCamV2 \(CAMn\_TYPE\=6\)\. Zero selects MAV\_COMP\_ID\_CAMERA plus the zero\-based camera instance \(100 for camera 1\, 101 for camera 2\)\. Values 7 to 255 select the specified component ID\. IDs 1 to 6 are reserved for autopilot\-connected cameras\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 255 | +-----------+----------+ .. _CAM1_ZOM_RAT_MAX: CAM1\_ZOM\_RAT\_MAX: Camera zoom speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed at which the zoom output moves for continuous \(rate\) zoom commands\. Only used by the Servo camera type\. The default of 5\%\/s moves across the full range in 20 seconds +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 100 | percent per second | +----------+--------------------+ .. _CAM1_FOC_RAT_MAX: CAM1\_FOC\_RAT\_MAX: Camera focus speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed at which the focus output moves for continuous \(rate\) focus commands\. Only used by the Servo camera type\. The default of 5\%\/s moves across the full range in 20 seconds +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 100 | percent per second | +----------+--------------------+ .. _parameters_CAM1_RC_: CAM1\_RC\_ Parameters --------------------- .. _CAM1_RC_TYPE: CAM1\_RC\_TYPE: RunCam device type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RunCam device type used to determine OSD menu structure and shutter options\. +-------+-------------------------------------+ | Value | Meaning | +=======+=====================================+ | 0 | Disabled | +-------+-------------------------------------+ | 1 | RunCam Split Micro/RunCam with UART | +-------+-------------------------------------+ | 2 | RunCam Split | +-------+-------------------------------------+ | 3 | RunCam Split4 4k | +-------+-------------------------------------+ | 4 | RunCam Hybrid/RunCam Thumb Pro | +-------+-------------------------------------+ | 5 | Runcam 2 4k | +-------+-------------------------------------+ .. _CAM1_RC_FEATURES: CAM1\_RC\_FEATURES: RunCam features available ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. +-----+-----------------+ | Bit | Meaning | +=====+=================+ | 0 | Power Button | +-----+-----------------+ | 1 | WiFi Button | +-----+-----------------+ | 2 | Change Mode | +-----+-----------------+ | 3 | 5-Key OSD | +-----+-----------------+ | 4 | Settings Access | +-----+-----------------+ | 5 | DisplayPort | +-----+-----------------+ | 6 | Start Recording | +-----+-----------------+ | 7 | Stop Recording | +-----+-----------------+ .. _CAM1_RC_BT_DELAY: CAM1\_RC\_BT\_DELAY: RunCam boot delay before allowing updates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. .. _CAM1_RC_BTN_DELY: CAM1\_RC\_BTN\_DELY: RunCam button delay before allowing further button presses ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. .. _CAM1_RC_MDE_DELY: CAM1\_RC\_MDE\_DELY: RunCam mode delay before allowing further button presses ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. .. _CAM1_RC_CONTROL: CAM1\_RC\_CONTROL: RunCam control option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the allowed actions required to enter the OSD menu and other option like autorecording +-----+-----------------------+ | Bit | Meaning | +=====+=======================+ | 0 | Stick yaw right | +-----+-----------------------+ | 1 | Stick roll right | +-----+-----------------------+ | 2 | 3-position switch | +-----+-----------------------+ | 3 | 2-position switch | +-----+-----------------------+ | 4 | Autorecording enabled | +-----+-----------------------+ .. _parameters_CAM2: CAM2 Parameters --------------- .. _CAM2_TYPE: CAM2\_TYPE: Camera shutter \(trigger\) type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* how to trigger the camera to take a picture +-------+------------------------------------+ | Value | Meaning | +=======+====================================+ | 0 | None | +-------+------------------------------------+ | 1 | Servo | +-------+------------------------------------+ | 2 | Relay | +-------+------------------------------------+ | 3 | GoPro in Solo Gimbal | +-------+------------------------------------+ | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | +-------+------------------------------------+ | 5 | MAVLink | +-------+------------------------------------+ | 6 | MAVLinkCamV2 (Gremsy/AVT) | +-------+------------------------------------+ | 7 | Scripting | +-------+------------------------------------+ | 8 | RunCam | +-------+------------------------------------+ .. _CAM2_DURATION: CAM2\_DURATION: Camera shutter duration held open ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Duration in seconds that the camera shutter is held open +--------+---------+ | Range | Units | +========+=========+ | 0 to 5 | seconds | +--------+---------+ .. _CAM2_SERVO_ON: CAM2\_SERVO\_ON: Camera servo ON PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value in microseconds to move servo to when shutter is activated +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _CAM2_SERVO_OFF: CAM2\_SERVO\_OFF: Camera servo OFF PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value in microseconds to move servo to when shutter is deactivated +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _CAM2_TRIGG_DIST: CAM2\_TRIGG\_DIST: Camera trigger distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the 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 | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _CAM2_RELAY_ON: CAM2\_RELAY\_ON: Camera relay ON value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Low | +-------+---------+ | 1 | High | +-------+---------+ .. _CAM2_INTRVAL_MIN: CAM2\_INTRVAL\_MIN: Camera minimum time interval between photos ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Postpone shooting if previous picture was taken less than this many seconds ago +---------+---------+ | Range | Units | +=========+=========+ | 0 to 10 | seconds | +---------+---------+ .. _CAM2_FEEDBAK_PIN: CAM2\_FEEDBAK\_PIN: Camera feedback pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _CAM2_FEEDBAK_POL: CAM2\_FEEDBAK\_POL: Camera feedback pin polarity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | TriggerLow | +-------+-------------+ | 1 | TriggerHigh | +-------+-------------+ .. _CAM2_OPTIONS: CAM2\_OPTIONS: Camera options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera options bitmask +-----+---------------------------------------------------+ | Bit | Meaning | +=====+===================================================+ | 0 | Recording Starts at arming and stops at disarming | +-----+---------------------------------------------------+ .. _CAM2_MNT_INST: CAM2\_MNT\_INST: Camera Mount instance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 .. _CAM2_HFOV: CAM2\_HFOV: Camera horizontal field of view ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera horizontal field of view\. 0 if unknown +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _CAM2_VFOV: CAM2\_VFOV: Camera vertical field of view ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera vertical field of view\. 0 if unknown +----------+---------+ | Range | Units | +==========+=========+ | 0 to 180 | degrees | +----------+---------+ .. _CAM2_COMPID: CAM2\_COMPID: MAVLink camera component ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Component ID of the camera when using MAVLinkCamV2 \(CAMn\_TYPE\=6\)\. Zero selects MAV\_COMP\_ID\_CAMERA plus the zero\-based camera instance \(100 for camera 1\, 101 for camera 2\)\. Values 7 to 255 select the specified component ID\. IDs 1 to 6 are reserved for autopilot\-connected cameras\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 255 | +-----------+----------+ .. _CAM2_ZOM_RAT_MAX: CAM2\_ZOM\_RAT\_MAX: Camera zoom speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed at which the zoom output moves for continuous \(rate\) zoom commands\. Only used by the Servo camera type\. The default of 5\%\/s moves across the full range in 20 seconds +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 100 | percent per second | +----------+--------------------+ .. _CAM2_FOC_RAT_MAX: CAM2\_FOC\_RAT\_MAX: Camera focus speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed at which the focus output moves for continuous \(rate\) focus commands\. Only used by the Servo camera type\. The default of 5\%\/s moves across the full range in 20 seconds +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 100 | percent per second | +----------+--------------------+ .. _parameters_CAM2_RC_: CAM2\_RC\_ Parameters --------------------- .. _CAM2_RC_TYPE: CAM2\_RC\_TYPE: RunCam device type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RunCam device type used to determine OSD menu structure and shutter options\. +-------+-------------------------------------+ | Value | Meaning | +=======+=====================================+ | 0 | Disabled | +-------+-------------------------------------+ | 1 | RunCam Split Micro/RunCam with UART | +-------+-------------------------------------+ | 2 | RunCam Split | +-------+-------------------------------------+ | 3 | RunCam Split4 4k | +-------+-------------------------------------+ | 4 | RunCam Hybrid/RunCam Thumb Pro | +-------+-------------------------------------+ | 5 | Runcam 2 4k | +-------+-------------------------------------+ .. _CAM2_RC_FEATURES: CAM2\_RC\_FEATURES: RunCam features available ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. +-----+-----------------+ | Bit | Meaning | +=====+=================+ | 0 | Power Button | +-----+-----------------+ | 1 | WiFi Button | +-----+-----------------+ | 2 | Change Mode | +-----+-----------------+ | 3 | 5-Key OSD | +-----+-----------------+ | 4 | Settings Access | +-----+-----------------+ | 5 | DisplayPort | +-----+-----------------+ | 6 | Start Recording | +-----+-----------------+ | 7 | Stop Recording | +-----+-----------------+ .. _CAM2_RC_BT_DELAY: CAM2\_RC\_BT\_DELAY: RunCam boot delay before allowing updates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. .. _CAM2_RC_BTN_DELY: CAM2\_RC\_BTN\_DELY: RunCam button delay before allowing further button presses ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. .. _CAM2_RC_MDE_DELY: CAM2\_RC\_MDE\_DELY: RunCam mode delay before allowing further button presses ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. .. _CAM2_RC_CONTROL: CAM2\_RC\_CONTROL: RunCam control option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the allowed actions required to enter the OSD menu and other option like autorecording +-----+-----------------------+ | Bit | Meaning | +=====+=======================+ | 0 | Stick yaw right | +-----+-----------------------+ | 1 | Stick roll right | +-----+-----------------------+ | 2 | 3-position switch | +-----+-----------------------+ | 3 | 2-position switch | +-----+-----------------------+ | 4 | Autorecording enabled | +-----+-----------------------+ .. _parameters_CAN_: CAN\_ Parameters ---------------- .. _CAN_LOGLEVEL: CAN\_LOGLEVEL: Loglevel ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Loglevel for recording initialisation and debug information from CAN Interface +-------+-----------------------+ | Value | Meaning | +=======+=======================+ | 0 | Log None | +-------+-----------------------+ | 1 | Log Error | +-------+-----------------------+ | 2 | Log Warning and below | +-------+-----------------------+ | 3 | Log Info and below | +-------+-----------------------+ | 4 | Log Everything | +-------+-----------------------+ +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _parameters_CAN_D1_: CAN\_D1\_ Parameters -------------------- .. _CAN_D1_PROTOCOL: CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option starts selected protocol that will use this virtual driver +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | Disabled | +-------+------------------------------+ | 1 | DroneCAN | +-------+------------------------------+ | 4 | PiccoloCAN | +-------+------------------------------+ | 6 | EFI_NWPMU | +-------+------------------------------+ | 7 | USD1 | +-------+------------------------------+ | 8 | KDECAN | +-------+------------------------------+ | 10 | Scripting | +-------+------------------------------+ | 11 | Benewake | +-------+------------------------------+ | 12 | Scripting2 | +-------+------------------------------+ | 13 | TOFSenseP | +-------+------------------------------+ | 14 | RadarCAN (NanoRadar/Hexsoon) | +-------+------------------------------+ .. _CAN_D1_PROTOCOL2: CAN\_D1\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Secondary protocol with 11 bit CAN addressing +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | Disabled | +-------+------------------------------+ | 7 | USD1 | +-------+------------------------------+ | 10 | Scripting | +-------+------------------------------+ | 11 | Benewake | +-------+------------------------------+ | 12 | Scripting2 | +-------+------------------------------+ | 13 | TOFSenseP | +-------+------------------------------+ | 14 | RadarCAN (NanoRadar/Hexsoon) | +-------+------------------------------+ .. _parameters_CAN_D1_PC_: CAN\_D1\_PC\_ Parameters ------------------------ .. _CAN_D1_PC_ESC_BM: CAN\_D1\_PC\_ESC\_BM: ESC channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _CAN_D1_PC_ESC_RT: CAN\_D1\_PC\_ESC\_RT: ESC output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ESC command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D1_PC_SRV_BM: CAN\_D1\_PC\_SRV\_BM: Servo channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which servo channels are to be transmitted over Piccolo CAN +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Servo 1 | +-----+----------+ | 1 | Servo 2 | +-----+----------+ | 2 | Servo 3 | +-----+----------+ | 3 | Servo 4 | +-----+----------+ | 4 | Servo 5 | +-----+----------+ | 5 | Servo 6 | +-----+----------+ | 6 | Servo 7 | +-----+----------+ | 7 | Servo 8 | +-----+----------+ | 8 | Servo 9 | +-----+----------+ | 9 | Servo 10 | +-----+----------+ | 10 | Servo 11 | +-----+----------+ | 11 | Servo 12 | +-----+----------+ | 12 | Servo 13 | +-----+----------+ | 13 | Servo 14 | +-----+----------+ | 14 | Servo 15 | +-----+----------+ | 15 | Servo 16 | +-----+----------+ .. _CAN_D1_PC_SRV_RT: CAN\_D1\_PC\_SRV\_RT: Servo command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of servo command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D1_PC_ECU_ID: CAN\_D1\_PC\_ECU\_ID: ECU Node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _CAN_D1_PC_ECU_RT: CAN\_D1\_PC\_ECU\_RT: ECU command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ECU command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _parameters_CAN_D1_UC_: CAN\_D1\_UC\_ Parameters ------------------------ .. _CAN_D1_UC_NODE: CAN\_D1\_UC\_NODE: Own node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN node ID used by the driver itself on this network +----------+ | Range | +==========+ | 1 to 125 | +----------+ .. _CAN_D1_UC_SRV_BM: CAN\_D1\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask with one set for channel to be transmitted as a servo command over DroneCAN +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Servo 1 | +-----+----------+ | 1 | Servo 2 | +-----+----------+ | 2 | Servo 3 | +-----+----------+ | 3 | Servo 4 | +-----+----------+ | 4 | Servo 5 | +-----+----------+ | 5 | Servo 6 | +-----+----------+ | 6 | Servo 7 | +-----+----------+ | 7 | Servo 8 | +-----+----------+ | 8 | Servo 9 | +-----+----------+ | 9 | Servo 10 | +-----+----------+ | 10 | Servo 11 | +-----+----------+ | 11 | Servo 12 | +-----+----------+ | 12 | Servo 13 | +-----+----------+ | 13 | Servo 14 | +-----+----------+ | 14 | Servo 15 | +-----+----------+ | 15 | Servo 16 | +-----+----------+ | 16 | Servo 17 | +-----+----------+ | 17 | Servo 18 | +-----+----------+ | 18 | Servo 19 | +-----+----------+ | 19 | Servo 20 | +-----+----------+ | 20 | Servo 21 | +-----+----------+ | 21 | Servo 22 | +-----+----------+ | 22 | Servo 23 | +-----+----------+ | 23 | Servo 24 | +-----+----------+ | 24 | Servo 25 | +-----+----------+ | 25 | Servo 26 | +-----+----------+ | 26 | Servo 27 | +-----+----------+ | 27 | Servo 28 | +-----+----------+ | 28 | Servo 29 | +-----+----------+ | 29 | Servo 30 | +-----+----------+ | 30 | Servo 31 | +-----+----------+ | 31 | Servo 32 | +-----+----------+ .. _CAN_D1_UC_ESC_BM: CAN\_D1\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _CAN_D1_UC_SRV_RT: CAN\_D1\_UC\_SRV\_RT: Servo output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for servo outputs +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D1_UC_OPTION: CAN\_D1\_UC\_OPTION: DroneCAN options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Option flags +-----+------------------------------+ | Bit | Meaning | +=====+==============================+ | 0 | ClearDNADatabase | +-----+------------------------------+ | 1 | IgnoreDNANodeConflicts | +-----+------------------------------+ | 2 | EnableCanfd | +-----+------------------------------+ | 3 | IgnoreDNANodeUnhealthy | +-----+------------------------------+ | 4 | SendServoAsPWM | +-----+------------------------------+ | 5 | SendGNSS | +-----+------------------------------+ | 6 | UseHimarkServo | +-----+------------------------------+ | 7 | HobbyWingESC | +-----+------------------------------+ | 8 | EnableStats | +-----+------------------------------+ | 9 | EnableFlexDebug | +-----+------------------------------+ | 10 | SecondaryAllowExtendedFrames | +-----+------------------------------+ .. _CAN_D1_UC_NTF_RT: CAN\_D1\_UC\_NTF\_RT: Notify State rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for Notify State Message +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D1_UC_ESC_OF: CAN\_D1\_UC\_ESC\_OF: ESC Output channels offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth +---------+ | Range | +=========+ | 0 to 18 | +---------+ .. _CAN_D1_UC_POOL: CAN\_D1\_UC\_POOL: CAN pool size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads +---------------+ | Range | +===============+ | 1024 to 16384 | +---------------+ .. _CAN_D1_UC_ESC_RV: CAN\_D1\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _CAN_D1_UC_RLY_RT: CAN\_D1\_UC\_RLY\_RT: DroneCAN relay output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state +----------+-------+ | Range | Units | +==========+=======+ | 0 to 200 | hertz | +----------+-------+ .. _CAN_D1_UC_SER_EN: CAN\_D1\_UC\_SER\_EN: DroneCAN Serial enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable DroneCAN virtual serial ports +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _CAN_D1_UC_S1_NOD: CAN\_D1\_UC\_S1\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D1_UC_S1_IDX: CAN\_D1\_UC\_S1\_IDX: DroneCAN Serial1 index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 100 | +-----------+ .. _CAN_D1_UC_S1_BD: CAN\_D1\_UC\_S1\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +----------+-----------+ | Value | Meaning | +==========+===========+ | 1 | 1200 | +----------+-----------+ | 2 | 2400 | +----------+-----------+ | 4 | 4800 | +----------+-----------+ | 9 | 9600 | +----------+-----------+ | 19 | 19200 | +----------+-----------+ | 38 | 38400 | +----------+-----------+ | 57 | 57600 | +----------+-----------+ | 111 | 111100 | +----------+-----------+ | 115 | 115200 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _CAN_D1_UC_S1_PRO: CAN\_D1\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _CAN_D1_UC_S2_NOD: CAN\_D1\_UC\_S2\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D1_UC_S2_IDX: CAN\_D1\_UC\_S2\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 100 | +-----------+ .. _CAN_D1_UC_S2_BD: CAN\_D1\_UC\_S2\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +----------+-----------+ | Value | Meaning | +==========+===========+ | 1 | 1200 | +----------+-----------+ | 2 | 2400 | +----------+-----------+ | 4 | 4800 | +----------+-----------+ | 9 | 9600 | +----------+-----------+ | 19 | 19200 | +----------+-----------+ | 38 | 38400 | +----------+-----------+ | 57 | 57600 | +----------+-----------+ | 111 | 111100 | +----------+-----------+ | 115 | 115200 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _CAN_D1_UC_S2_PRO: CAN\_D1\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _CAN_D1_UC_S3_NOD: CAN\_D1\_UC\_S3\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D1_UC_S3_IDX: CAN\_D1\_UC\_S3\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 100 | +-----------+ .. _CAN_D1_UC_S3_BD: CAN\_D1\_UC\_S3\_BD: Serial baud rate on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +----------+-----------+ | Value | Meaning | +==========+===========+ | 1 | 1200 | +----------+-----------+ | 2 | 2400 | +----------+-----------+ | 4 | 4800 | +----------+-----------+ | 9 | 9600 | +----------+-----------+ | 19 | 19200 | +----------+-----------+ | 38 | 38400 | +----------+-----------+ | 57 | 57600 | +----------+-----------+ | 111 | 111100 | +----------+-----------+ | 115 | 115200 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _CAN_D1_UC_S3_PRO: CAN\_D1\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _parameters_CAN_D2_: CAN\_D2\_ Parameters -------------------- .. _CAN_D2_PROTOCOL: CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option starts selected protocol that will use this virtual driver +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | Disabled | +-------+------------------------------+ | 1 | DroneCAN | +-------+------------------------------+ | 4 | PiccoloCAN | +-------+------------------------------+ | 6 | EFI_NWPMU | +-------+------------------------------+ | 7 | USD1 | +-------+------------------------------+ | 8 | KDECAN | +-------+------------------------------+ | 10 | Scripting | +-------+------------------------------+ | 11 | Benewake | +-------+------------------------------+ | 12 | Scripting2 | +-------+------------------------------+ | 13 | TOFSenseP | +-------+------------------------------+ | 14 | RadarCAN (NanoRadar/Hexsoon) | +-------+------------------------------+ .. _CAN_D2_PROTOCOL2: CAN\_D2\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Secondary protocol with 11 bit CAN addressing +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | Disabled | +-------+------------------------------+ | 7 | USD1 | +-------+------------------------------+ | 10 | Scripting | +-------+------------------------------+ | 11 | Benewake | +-------+------------------------------+ | 12 | Scripting2 | +-------+------------------------------+ | 13 | TOFSenseP | +-------+------------------------------+ | 14 | RadarCAN (NanoRadar/Hexsoon) | +-------+------------------------------+ .. _parameters_CAN_D2_PC_: CAN\_D2\_PC\_ Parameters ------------------------ .. _CAN_D2_PC_ESC_BM: CAN\_D2\_PC\_ESC\_BM: ESC channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _CAN_D2_PC_ESC_RT: CAN\_D2\_PC\_ESC\_RT: ESC output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ESC command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D2_PC_SRV_BM: CAN\_D2\_PC\_SRV\_BM: Servo channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which servo channels are to be transmitted over Piccolo CAN +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Servo 1 | +-----+----------+ | 1 | Servo 2 | +-----+----------+ | 2 | Servo 3 | +-----+----------+ | 3 | Servo 4 | +-----+----------+ | 4 | Servo 5 | +-----+----------+ | 5 | Servo 6 | +-----+----------+ | 6 | Servo 7 | +-----+----------+ | 7 | Servo 8 | +-----+----------+ | 8 | Servo 9 | +-----+----------+ | 9 | Servo 10 | +-----+----------+ | 10 | Servo 11 | +-----+----------+ | 11 | Servo 12 | +-----+----------+ | 12 | Servo 13 | +-----+----------+ | 13 | Servo 14 | +-----+----------+ | 14 | Servo 15 | +-----+----------+ | 15 | Servo 16 | +-----+----------+ .. _CAN_D2_PC_SRV_RT: CAN\_D2\_PC\_SRV\_RT: Servo command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of servo command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D2_PC_ECU_ID: CAN\_D2\_PC\_ECU\_ID: ECU Node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _CAN_D2_PC_ECU_RT: CAN\_D2\_PC\_ECU\_RT: ECU command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ECU command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _parameters_CAN_D2_UC_: CAN\_D2\_UC\_ Parameters ------------------------ .. _CAN_D2_UC_NODE: CAN\_D2\_UC\_NODE: Own node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN node ID used by the driver itself on this network +----------+ | Range | +==========+ | 1 to 125 | +----------+ .. _CAN_D2_UC_SRV_BM: CAN\_D2\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask with one set for channel to be transmitted as a servo command over DroneCAN +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Servo 1 | +-----+----------+ | 1 | Servo 2 | +-----+----------+ | 2 | Servo 3 | +-----+----------+ | 3 | Servo 4 | +-----+----------+ | 4 | Servo 5 | +-----+----------+ | 5 | Servo 6 | +-----+----------+ | 6 | Servo 7 | +-----+----------+ | 7 | Servo 8 | +-----+----------+ | 8 | Servo 9 | +-----+----------+ | 9 | Servo 10 | +-----+----------+ | 10 | Servo 11 | +-----+----------+ | 11 | Servo 12 | +-----+----------+ | 12 | Servo 13 | +-----+----------+ | 13 | Servo 14 | +-----+----------+ | 14 | Servo 15 | +-----+----------+ | 15 | Servo 16 | +-----+----------+ | 16 | Servo 17 | +-----+----------+ | 17 | Servo 18 | +-----+----------+ | 18 | Servo 19 | +-----+----------+ | 19 | Servo 20 | +-----+----------+ | 20 | Servo 21 | +-----+----------+ | 21 | Servo 22 | +-----+----------+ | 22 | Servo 23 | +-----+----------+ | 23 | Servo 24 | +-----+----------+ | 24 | Servo 25 | +-----+----------+ | 25 | Servo 26 | +-----+----------+ | 26 | Servo 27 | +-----+----------+ | 27 | Servo 28 | +-----+----------+ | 28 | Servo 29 | +-----+----------+ | 29 | Servo 30 | +-----+----------+ | 30 | Servo 31 | +-----+----------+ | 31 | Servo 32 | +-----+----------+ .. _CAN_D2_UC_ESC_BM: CAN\_D2\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _CAN_D2_UC_SRV_RT: CAN\_D2\_UC\_SRV\_RT: Servo output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for servo outputs +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D2_UC_OPTION: CAN\_D2\_UC\_OPTION: DroneCAN options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Option flags +-----+------------------------------+ | Bit | Meaning | +=====+==============================+ | 0 | ClearDNADatabase | +-----+------------------------------+ | 1 | IgnoreDNANodeConflicts | +-----+------------------------------+ | 2 | EnableCanfd | +-----+------------------------------+ | 3 | IgnoreDNANodeUnhealthy | +-----+------------------------------+ | 4 | SendServoAsPWM | +-----+------------------------------+ | 5 | SendGNSS | +-----+------------------------------+ | 6 | UseHimarkServo | +-----+------------------------------+ | 7 | HobbyWingESC | +-----+------------------------------+ | 8 | EnableStats | +-----+------------------------------+ | 9 | EnableFlexDebug | +-----+------------------------------+ | 10 | SecondaryAllowExtendedFrames | +-----+------------------------------+ .. _CAN_D2_UC_NTF_RT: CAN\_D2\_UC\_NTF\_RT: Notify State rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for Notify State Message +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D2_UC_ESC_OF: CAN\_D2\_UC\_ESC\_OF: ESC Output channels offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth +---------+ | Range | +=========+ | 0 to 18 | +---------+ .. _CAN_D2_UC_POOL: CAN\_D2\_UC\_POOL: CAN pool size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads +---------------+ | Range | +===============+ | 1024 to 16384 | +---------------+ .. _CAN_D2_UC_ESC_RV: CAN\_D2\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _CAN_D2_UC_RLY_RT: CAN\_D2\_UC\_RLY\_RT: DroneCAN relay output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state +----------+-------+ | Range | Units | +==========+=======+ | 0 to 200 | hertz | +----------+-------+ .. _CAN_D2_UC_SER_EN: CAN\_D2\_UC\_SER\_EN: DroneCAN Serial enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable DroneCAN virtual serial ports +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _CAN_D2_UC_S1_NOD: CAN\_D2\_UC\_S1\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D2_UC_S1_IDX: CAN\_D2\_UC\_S1\_IDX: DroneCAN Serial1 index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 100 | +-----------+ .. _CAN_D2_UC_S1_BD: CAN\_D2\_UC\_S1\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +----------+-----------+ | Value | Meaning | +==========+===========+ | 1 | 1200 | +----------+-----------+ | 2 | 2400 | +----------+-----------+ | 4 | 4800 | +----------+-----------+ | 9 | 9600 | +----------+-----------+ | 19 | 19200 | +----------+-----------+ | 38 | 38400 | +----------+-----------+ | 57 | 57600 | +----------+-----------+ | 111 | 111100 | +----------+-----------+ | 115 | 115200 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _CAN_D2_UC_S1_PRO: CAN\_D2\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _CAN_D2_UC_S2_NOD: CAN\_D2\_UC\_S2\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D2_UC_S2_IDX: CAN\_D2\_UC\_S2\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 100 | +-----------+ .. _CAN_D2_UC_S2_BD: CAN\_D2\_UC\_S2\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +----------+-----------+ | Value | Meaning | +==========+===========+ | 1 | 1200 | +----------+-----------+ | 2 | 2400 | +----------+-----------+ | 4 | 4800 | +----------+-----------+ | 9 | 9600 | +----------+-----------+ | 19 | 19200 | +----------+-----------+ | 38 | 38400 | +----------+-----------+ | 57 | 57600 | +----------+-----------+ | 111 | 111100 | +----------+-----------+ | 115 | 115200 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _CAN_D2_UC_S2_PRO: CAN\_D2\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _CAN_D2_UC_S3_NOD: CAN\_D2\_UC\_S3\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D2_UC_S3_IDX: CAN\_D2\_UC\_S3\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 100 | +-----------+ .. _CAN_D2_UC_S3_BD: CAN\_D2\_UC\_S3\_BD: Serial baud rate on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +----------+-----------+ | Value | Meaning | +==========+===========+ | 1 | 1200 | +----------+-----------+ | 2 | 2400 | +----------+-----------+ | 4 | 4800 | +----------+-----------+ | 9 | 9600 | +----------+-----------+ | 19 | 19200 | +----------+-----------+ | 38 | 38400 | +----------+-----------+ | 57 | 57600 | +----------+-----------+ | 111 | 111100 | +----------+-----------+ | 115 | 115200 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _CAN_D2_UC_S3_PRO: CAN\_D2\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _parameters_CAN_D3_: CAN\_D3\_ Parameters -------------------- .. _CAN_D3_PROTOCOL: CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option starts selected protocol that will use this virtual driver +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | Disabled | +-------+------------------------------+ | 1 | DroneCAN | +-------+------------------------------+ | 4 | PiccoloCAN | +-------+------------------------------+ | 6 | EFI_NWPMU | +-------+------------------------------+ | 7 | USD1 | +-------+------------------------------+ | 8 | KDECAN | +-------+------------------------------+ | 10 | Scripting | +-------+------------------------------+ | 11 | Benewake | +-------+------------------------------+ | 12 | Scripting2 | +-------+------------------------------+ | 13 | TOFSenseP | +-------+------------------------------+ | 14 | RadarCAN (NanoRadar/Hexsoon) | +-------+------------------------------+ .. _CAN_D3_PROTOCOL2: CAN\_D3\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Secondary protocol with 11 bit CAN addressing +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | Disabled | +-------+------------------------------+ | 7 | USD1 | +-------+------------------------------+ | 10 | Scripting | +-------+------------------------------+ | 11 | Benewake | +-------+------------------------------+ | 12 | Scripting2 | +-------+------------------------------+ | 13 | TOFSenseP | +-------+------------------------------+ | 14 | RadarCAN (NanoRadar/Hexsoon) | +-------+------------------------------+ .. _parameters_CAN_D3_PC_: CAN\_D3\_PC\_ Parameters ------------------------ .. _CAN_D3_PC_ESC_BM: CAN\_D3\_PC\_ESC\_BM: ESC channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _CAN_D3_PC_ESC_RT: CAN\_D3\_PC\_ESC\_RT: ESC output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ESC command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D3_PC_SRV_BM: CAN\_D3\_PC\_SRV\_BM: Servo channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which servo channels are to be transmitted over Piccolo CAN +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Servo 1 | +-----+----------+ | 1 | Servo 2 | +-----+----------+ | 2 | Servo 3 | +-----+----------+ | 3 | Servo 4 | +-----+----------+ | 4 | Servo 5 | +-----+----------+ | 5 | Servo 6 | +-----+----------+ | 6 | Servo 7 | +-----+----------+ | 7 | Servo 8 | +-----+----------+ | 8 | Servo 9 | +-----+----------+ | 9 | Servo 10 | +-----+----------+ | 10 | Servo 11 | +-----+----------+ | 11 | Servo 12 | +-----+----------+ | 12 | Servo 13 | +-----+----------+ | 13 | Servo 14 | +-----+----------+ | 14 | Servo 15 | +-----+----------+ | 15 | Servo 16 | +-----+----------+ .. _CAN_D3_PC_SRV_RT: CAN\_D3\_PC\_SRV\_RT: Servo command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of servo command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D3_PC_ECU_ID: CAN\_D3\_PC\_ECU\_ID: ECU Node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _CAN_D3_PC_ECU_RT: CAN\_D3\_PC\_ECU\_RT: ECU command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ECU command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _parameters_CAN_D3_UC_: CAN\_D3\_UC\_ Parameters ------------------------ .. _CAN_D3_UC_NODE: CAN\_D3\_UC\_NODE: Own node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN node ID used by the driver itself on this network +----------+ | Range | +==========+ | 1 to 125 | +----------+ .. _CAN_D3_UC_SRV_BM: CAN\_D3\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask with one set for channel to be transmitted as a servo command over DroneCAN +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Servo 1 | +-----+----------+ | 1 | Servo 2 | +-----+----------+ | 2 | Servo 3 | +-----+----------+ | 3 | Servo 4 | +-----+----------+ | 4 | Servo 5 | +-----+----------+ | 5 | Servo 6 | +-----+----------+ | 6 | Servo 7 | +-----+----------+ | 7 | Servo 8 | +-----+----------+ | 8 | Servo 9 | +-----+----------+ | 9 | Servo 10 | +-----+----------+ | 10 | Servo 11 | +-----+----------+ | 11 | Servo 12 | +-----+----------+ | 12 | Servo 13 | +-----+----------+ | 13 | Servo 14 | +-----+----------+ | 14 | Servo 15 | +-----+----------+ | 15 | Servo 16 | +-----+----------+ | 16 | Servo 17 | +-----+----------+ | 17 | Servo 18 | +-----+----------+ | 18 | Servo 19 | +-----+----------+ | 19 | Servo 20 | +-----+----------+ | 20 | Servo 21 | +-----+----------+ | 21 | Servo 22 | +-----+----------+ | 22 | Servo 23 | +-----+----------+ | 23 | Servo 24 | +-----+----------+ | 24 | Servo 25 | +-----+----------+ | 25 | Servo 26 | +-----+----------+ | 26 | Servo 27 | +-----+----------+ | 27 | Servo 28 | +-----+----------+ | 28 | Servo 29 | +-----+----------+ | 29 | Servo 30 | +-----+----------+ | 30 | Servo 31 | +-----+----------+ | 31 | Servo 32 | +-----+----------+ .. _CAN_D3_UC_ESC_BM: CAN\_D3\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _CAN_D3_UC_SRV_RT: CAN\_D3\_UC\_SRV\_RT: Servo output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for servo outputs +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D3_UC_OPTION: CAN\_D3\_UC\_OPTION: DroneCAN options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Option flags +-----+------------------------------+ | Bit | Meaning | +=====+==============================+ | 0 | ClearDNADatabase | +-----+------------------------------+ | 1 | IgnoreDNANodeConflicts | +-----+------------------------------+ | 2 | EnableCanfd | +-----+------------------------------+ | 3 | IgnoreDNANodeUnhealthy | +-----+------------------------------+ | 4 | SendServoAsPWM | +-----+------------------------------+ | 5 | SendGNSS | +-----+------------------------------+ | 6 | UseHimarkServo | +-----+------------------------------+ | 7 | HobbyWingESC | +-----+------------------------------+ | 8 | EnableStats | +-----+------------------------------+ | 9 | EnableFlexDebug | +-----+------------------------------+ | 10 | SecondaryAllowExtendedFrames | +-----+------------------------------+ .. _CAN_D3_UC_NTF_RT: CAN\_D3\_UC\_NTF\_RT: Notify State rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for Notify State Message +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D3_UC_ESC_OF: CAN\_D3\_UC\_ESC\_OF: ESC Output channels offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth +---------+ | Range | +=========+ | 0 to 18 | +---------+ .. _CAN_D3_UC_POOL: CAN\_D3\_UC\_POOL: CAN pool size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads +---------------+ | Range | +===============+ | 1024 to 16384 | +---------------+ .. _CAN_D3_UC_ESC_RV: CAN\_D3\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _CAN_D3_UC_RLY_RT: CAN\_D3\_UC\_RLY\_RT: DroneCAN relay output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state +----------+-------+ | Range | Units | +==========+=======+ | 0 to 200 | hertz | +----------+-------+ .. _CAN_D3_UC_SER_EN: CAN\_D3\_UC\_SER\_EN: DroneCAN Serial enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable DroneCAN virtual serial ports +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _CAN_D3_UC_S1_NOD: CAN\_D3\_UC\_S1\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D3_UC_S1_IDX: CAN\_D3\_UC\_S1\_IDX: DroneCAN Serial1 index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 100 | +-----------+ .. _CAN_D3_UC_S1_BD: CAN\_D3\_UC\_S1\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +----------+-----------+ | Value | Meaning | +==========+===========+ | 1 | 1200 | +----------+-----------+ | 2 | 2400 | +----------+-----------+ | 4 | 4800 | +----------+-----------+ | 9 | 9600 | +----------+-----------+ | 19 | 19200 | +----------+-----------+ | 38 | 38400 | +----------+-----------+ | 57 | 57600 | +----------+-----------+ | 111 | 111100 | +----------+-----------+ | 115 | 115200 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _CAN_D3_UC_S1_PRO: CAN\_D3\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _CAN_D3_UC_S2_NOD: CAN\_D3\_UC\_S2\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D3_UC_S2_IDX: CAN\_D3\_UC\_S2\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 100 | +-----------+ .. _CAN_D3_UC_S2_BD: CAN\_D3\_UC\_S2\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +----------+-----------+ | Value | Meaning | +==========+===========+ | 1 | 1200 | +----------+-----------+ | 2 | 2400 | +----------+-----------+ | 4 | 4800 | +----------+-----------+ | 9 | 9600 | +----------+-----------+ | 19 | 19200 | +----------+-----------+ | 38 | 38400 | +----------+-----------+ | 57 | 57600 | +----------+-----------+ | 111 | 111100 | +----------+-----------+ | 115 | 115200 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _CAN_D3_UC_S2_PRO: CAN\_D3\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _CAN_D3_UC_S3_NOD: CAN\_D3\_UC\_S3\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D3_UC_S3_IDX: CAN\_D3\_UC\_S3\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 100 | +-----------+ .. _CAN_D3_UC_S3_BD: CAN\_D3\_UC\_S3\_BD: Serial baud rate on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +----------+-----------+ | Value | Meaning | +==========+===========+ | 1 | 1200 | +----------+-----------+ | 2 | 2400 | +----------+-----------+ | 4 | 4800 | +----------+-----------+ | 9 | 9600 | +----------+-----------+ | 19 | 19200 | +----------+-----------+ | 38 | 38400 | +----------+-----------+ | 57 | 57600 | +----------+-----------+ | 111 | 111100 | +----------+-----------+ | 115 | 115200 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _CAN_D3_UC_S3_PRO: CAN\_D3\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _parameters_CAN_P1_: CAN\_P1\_ Parameters -------------------- .. _CAN_P1_DRIVER: CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enabling this option enables use of CAN buses\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Disabled | +-------+---------------+ | 1 | First driver | +-------+---------------+ | 2 | Second driver | +-------+---------------+ | 3 | Third driver | +-------+---------------+ .. _CAN_P1_BITRATE: CAN\_P1\_BITRATE: Bitrate of CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 10000 to 1000000 +------------------+ | Range | +==================+ | 10000 to 1000000 | +------------------+ .. _CAN_P1_FDBITRATE: CAN\_P1\_FDBITRATE: Bitrate of CANFD interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 1000000 to 8000000 +-------+---------+ | Value | Meaning | +=======+=========+ | 1 | 1M | +-------+---------+ | 2 | 2M | +-------+---------+ | 4 | 4M | +-------+---------+ | 5 | 5M | +-------+---------+ | 8 | 8M | +-------+---------+ .. _CAN_P1_OPTIONS: CAN\_P1\_OPTIONS: CAN per\-interface options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* CAN per\-interface options +-----+--------------+ | Bit | Meaning | +=====+==============+ | 0 | LogAllFrames | +-----+--------------+ .. _parameters_CAN_P2_: CAN\_P2\_ Parameters -------------------- .. _CAN_P2_DRIVER: CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enabling this option enables use of CAN buses\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Disabled | +-------+---------------+ | 1 | First driver | +-------+---------------+ | 2 | Second driver | +-------+---------------+ | 3 | Third driver | +-------+---------------+ .. _CAN_P2_BITRATE: CAN\_P2\_BITRATE: Bitrate of CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 10000 to 1000000 +------------------+ | Range | +==================+ | 10000 to 1000000 | +------------------+ .. _CAN_P2_FDBITRATE: CAN\_P2\_FDBITRATE: Bitrate of CANFD interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 1000000 to 8000000 +-------+---------+ | Value | Meaning | +=======+=========+ | 1 | 1M | +-------+---------+ | 2 | 2M | +-------+---------+ | 4 | 4M | +-------+---------+ | 5 | 5M | +-------+---------+ | 8 | 8M | +-------+---------+ .. _CAN_P2_OPTIONS: CAN\_P2\_OPTIONS: CAN per\-interface options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* CAN per\-interface options +-----+--------------+ | Bit | Meaning | +=====+==============+ | 0 | LogAllFrames | +-----+--------------+ .. _parameters_CAN_P3_: CAN\_P3\_ Parameters -------------------- .. _CAN_P3_DRIVER: CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enabling this option enables use of CAN buses\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Disabled | +-------+---------------+ | 1 | First driver | +-------+---------------+ | 2 | Second driver | +-------+---------------+ | 3 | Third driver | +-------+---------------+ .. _CAN_P3_BITRATE: CAN\_P3\_BITRATE: Bitrate of CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 10000 to 1000000 +------------------+ | Range | +==================+ | 10000 to 1000000 | +------------------+ .. _CAN_P3_FDBITRATE: CAN\_P3\_FDBITRATE: Bitrate of CANFD interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 1000000 to 8000000 +-------+---------+ | Value | Meaning | +=======+=========+ | 1 | 1M | +-------+---------+ | 2 | 2M | +-------+---------+ | 4 | 4M | +-------+---------+ | 5 | 5M | +-------+---------+ | 8 | 8M | +-------+---------+ .. _CAN_P3_OPTIONS: CAN\_P3\_OPTIONS: CAN per\-interface options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* CAN per\-interface options +-----+--------------+ | Bit | Meaning | +=====+==============+ | 0 | LogAllFrames | +-----+--------------+ .. _parameters_CAN_SLCAN_: CAN\_SLCAN\_ Parameters ----------------------- .. _CAN_SLCAN_CPORT: CAN\_SLCAN\_CPORT: SLCAN Route ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* CAN Interface ID to be routed to SLCAN\, 0 means no routing +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Disabled | +-------+------------------+ | 1 | First interface | +-------+------------------+ | 2 | Second interface | +-------+------------------+ .. _CAN_SLCAN_SERNUM: CAN\_SLCAN\_SERNUM: SLCAN Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Serial Port ID to be used for temporary SLCAN iface\, \-1 means no temporary serial\. This parameter is automatically reset on reboot or on timeout\. See CAN\_SLCAN\_TIMOUT for timeout details +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ .. _CAN_SLCAN_TIMOUT: CAN\_SLCAN\_TIMOUT: SLCAN Timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Duration of inactivity after which SLCAN is switched back to original driver in seconds\. +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_SLCAN_SDELAY: CAN\_SLCAN\_SDELAY: SLCAN Start Delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Duration after which slcan starts after setting SERNUM in seconds\. +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _parameters_CIRC: CIRC Parameters --------------- .. _CIRC_RADIUS: CIRC\_RADIUS: Circle Radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle will circle the center at this distance +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 0 to 100 | meters | +-----------+----------+--------+ .. _CIRC_SPEED: CIRC\_SPEED: Circle Speed ~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle will move at this speed around the circle\. If set to zero WP\_SPEED will be used +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 0.1 | 0 to 10 | meters per second | +-----------+---------+-------------------+ .. _CIRC_DIR: CIRC\_DIR: Circle Direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Circle Direction +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Clockwise | +-------+-------------------+ | 1 | Counter-Clockwise | +-------+-------------------+ .. _parameters_COMPASS_: COMPASS\_ Parameters -------------------- .. _COMPASS_OFS_X: COMPASS\_OFS\_X: Compass offsets in milligauss on the X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset to be added to the compass x\-axis values to compensate for metal in the frame +-------------+-----------+-------------+------------+ | Calibration | Increment | Range | Units | +=============+===========+=============+============+ | 1 | 1 | -400 to 400 | milligauss | +-------------+-----------+-------------+------------+ .. _COMPASS_OFS_Y: COMPASS\_OFS\_Y: Compass offsets in milligauss on the Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset to be added to the compass y\-axis values to compensate for metal in the frame +-------------+-----------+-------------+------------+ | Calibration | Increment | Range | Units | +=============+===========+=============+============+ | 1 | 1 | -400 to 400 | milligauss | +-------------+-----------+-------------+------------+ .. _COMPASS_OFS_Z: COMPASS\_OFS\_Z: Compass offsets in milligauss on the Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset to be added to the compass z\-axis values to compensate for metal in the frame +-------------+-----------+-------------+------------+ | Calibration | Increment | Range | Units | +=============+===========+=============+============+ | 1 | 1 | -400 to 400 | milligauss | +-------------+-----------+-------------+------------+ .. _COMPASS_DEC: COMPASS\_DEC: Compass declination ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ An angle to compensate between the true north and magnetic north +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 0.01 | -3.142 to 3.142 | radians | +-----------+-----------------+---------+ .. _COMPASS_LEARN: COMPASS\_LEARN: Learn compass offsets automatically ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable or disable the automatic learning of compass offsets\. EKF\-Learning uses the offsets learnt by the active EKF state estimator\; those offsets are saved when you disarm the vehicle\, and it does nothing on firmware built without the CompassLearnCopyFromEKF feature\. If InFlight learning is enabled then the compass will automatically start learning once a flight starts \(must be armed\)\. While InFlight learning is running you cannot use position control modes\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Disabled | +-------+-------------------+ | 2 | EKF-Learning | +-------+-------------------+ | 3 | InFlight-Learning | +-------+-------------------+ .. _COMPASS_USE: COMPASS\_USE: Use compass for yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable or disable the use of the compass \(instead of the GPS\) for determining heading +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _COMPASS_AUTODEC: COMPASS\_AUTODEC: Auto Declination ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 | +-------+----------+ .. _COMPASS_MOTCT: COMPASS\_MOTCT: Motor interference compensation type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Set motor interference compensation type to disabled\, throttle or current\. Do not change manually\. +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disabled | +-------+--------------+ | 1 | Use Throttle | +-------+--------------+ | 2 | Use Current | +-------+--------------+ +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_MOT_X: COMPASS\_MOT\_X: Motor interference compensation for body frame X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplied by the current throttle and added to the compass\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) +-------------+-----------+---------------+-----------------------+ | Calibration | Increment | Range | Units | +=============+===========+===============+=======================+ | 1 | 1 | -1000 to 1000 | milligauss per ampere | +-------------+-----------+---------------+-----------------------+ .. _COMPASS_MOT_Y: COMPASS\_MOT\_Y: Motor interference compensation for body frame Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplied by the current throttle and added to the compass\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) +-------------+-----------+---------------+-----------------------+ | Calibration | Increment | Range | Units | +=============+===========+===============+=======================+ | 1 | 1 | -1000 to 1000 | milligauss per ampere | +-------------+-----------+---------------+-----------------------+ .. _COMPASS_MOT_Z: COMPASS\_MOT\_Z: Motor interference compensation for body frame Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplied by the current throttle and added to the compass\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) +-------------+-----------+---------------+-----------------------+ | Calibration | Increment | Range | Units | +=============+===========+===============+=======================+ | 1 | 1 | -1000 to 1000 | milligauss per ampere | +-------------+-----------+---------------+-----------------------+ .. _COMPASS_ORIENT: COMPASS\_ORIENT: Compass orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The orientation of the first external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | None | +-------+----------------------+ | 1 | Yaw45 | +-------+----------------------+ | 2 | Yaw90 | +-------+----------------------+ | 3 | Yaw135 | +-------+----------------------+ | 4 | Yaw180 | +-------+----------------------+ | 5 | Yaw225 | +-------+----------------------+ | 6 | Yaw270 | +-------+----------------------+ | 7 | Yaw315 | +-------+----------------------+ | 8 | Roll180 | +-------+----------------------+ | 9 | Yaw45Roll180 | +-------+----------------------+ | 10 | Yaw90Roll180 | +-------+----------------------+ | 11 | Yaw135Roll180 | +-------+----------------------+ | 12 | Pitch180 | +-------+----------------------+ | 13 | Yaw225Roll180 | +-------+----------------------+ | 14 | Yaw270Roll180 | +-------+----------------------+ | 15 | Yaw315Roll180 | +-------+----------------------+ | 16 | Roll90 | +-------+----------------------+ | 17 | Yaw45Roll90 | +-------+----------------------+ | 18 | Yaw90Roll90 | +-------+----------------------+ | 19 | Yaw135Roll90 | +-------+----------------------+ | 20 | Roll270 | +-------+----------------------+ | 21 | Yaw45Roll270 | +-------+----------------------+ | 22 | Yaw90Roll270 | +-------+----------------------+ | 23 | Yaw135Roll270 | +-------+----------------------+ | 24 | Pitch90 | +-------+----------------------+ | 25 | Pitch270 | +-------+----------------------+ | 26 | Yaw90Pitch180 | +-------+----------------------+ | 27 | Yaw270Pitch180 | +-------+----------------------+ | 28 | Pitch90Roll90 | +-------+----------------------+ | 29 | Pitch90Roll180 | +-------+----------------------+ | 30 | Pitch90Roll270 | +-------+----------------------+ | 31 | Pitch180Roll90 | +-------+----------------------+ | 32 | Pitch180Roll270 | +-------+----------------------+ | 33 | Pitch270Roll90 | +-------+----------------------+ | 34 | Pitch270Roll180 | +-------+----------------------+ | 35 | Pitch270Roll270 | +-------+----------------------+ | 36 | Yaw90Pitch180Roll90 | +-------+----------------------+ | 37 | Yaw270Roll90 | +-------+----------------------+ | 38 | Yaw293Pitch68Roll180 | +-------+----------------------+ | 39 | Pitch315 | +-------+----------------------+ | 40 | Pitch315Roll90 | +-------+----------------------+ | 42 | Roll45 | +-------+----------------------+ | 43 | Roll315 | +-------+----------------------+ | 100 | Custom 4.1 and older | +-------+----------------------+ | 101 | Custom 1 | +-------+----------------------+ | 102 | Custom 2 | +-------+----------------------+ .. _COMPASS_EXTERNAL: COMPASS\_EXTERNAL: Compass is attached via an external cable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Configure compass so it is attached externally\. This is auto\-detected on most boards\. Set to 1 if the compass is externally connected\. When externally connected the COMPASS\_ORIENT option operates independently of the AHRS\_ORIENTATION board orientation option\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. +-------+----------------+ | Value | Meaning | +=======+================+ | 0 | Internal | +-------+----------------+ | 1 | External | +-------+----------------+ | 2 | ForcedExternal | +-------+----------------+ .. _COMPASS_OFS2_X: COMPASS\_OFS2\_X: Compass2 offsets in milligauss on the X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset to be added to compass2\'s x\-axis values to compensate for metal in the frame +-------------+-----------+-------------+------------+ | Calibration | Increment | Range | Units | +=============+===========+=============+============+ | 1 | 1 | -400 to 400 | milligauss | +-------------+-----------+-------------+------------+ .. _COMPASS_OFS2_Y: COMPASS\_OFS2\_Y: Compass2 offsets in milligauss on the Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset to be added to compass2\'s y\-axis values to compensate for metal in the frame +-------------+-----------+-------------+------------+ | Calibration | Increment | Range | Units | +=============+===========+=============+============+ | 1 | 1 | -400 to 400 | milligauss | +-------------+-----------+-------------+------------+ .. _COMPASS_OFS2_Z: COMPASS\_OFS2\_Z: Compass2 offsets in milligauss on the Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset to be added to compass2\'s z\-axis values to compensate for metal in the frame +-------------+-----------+-------------+------------+ | Calibration | Increment | Range | Units | +=============+===========+=============+============+ | 1 | 1 | -400 to 400 | milligauss | +-------------+-----------+-------------+------------+ .. _COMPASS_MOT2_X: COMPASS\_MOT2\_X: Motor interference compensation to compass2 for body frame X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplied by the current throttle and added to compass2\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) +-------------+-----------+---------------+-----------------------+ | Calibration | Increment | Range | Units | +=============+===========+===============+=======================+ | 1 | 1 | -1000 to 1000 | milligauss per ampere | +-------------+-----------+---------------+-----------------------+ .. _COMPASS_MOT2_Y: COMPASS\_MOT2\_Y: Motor interference compensation to compass2 for body frame Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplied by the current throttle and added to compass2\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) +-------------+-----------+---------------+-----------------------+ | Calibration | Increment | Range | Units | +=============+===========+===============+=======================+ | 1 | 1 | -1000 to 1000 | milligauss per ampere | +-------------+-----------+---------------+-----------------------+ .. _COMPASS_MOT2_Z: COMPASS\_MOT2\_Z: Motor interference compensation to compass2 for body frame Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplied by the current throttle and added to compass2\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) +-------------+-----------+---------------+-----------------------+ | Calibration | Increment | Range | Units | +=============+===========+===============+=======================+ | 1 | 1 | -1000 to 1000 | milligauss per ampere | +-------------+-----------+---------------+-----------------------+ .. _COMPASS_OFS3_X: COMPASS\_OFS3\_X: Compass3 offsets in milligauss on the X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset to be added to compass3\'s x\-axis values to compensate for metal in the frame +-------------+-----------+-------------+------------+ | Calibration | Increment | Range | Units | +=============+===========+=============+============+ | 1 | 1 | -400 to 400 | milligauss | +-------------+-----------+-------------+------------+ .. _COMPASS_OFS3_Y: COMPASS\_OFS3\_Y: Compass3 offsets in milligauss on the Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset to be added to compass3\'s y\-axis values to compensate for metal in the frame +-------------+-----------+-------------+------------+ | Calibration | Increment | Range | Units | +=============+===========+=============+============+ | 1 | 1 | -400 to 400 | milligauss | +-------------+-----------+-------------+------------+ .. _COMPASS_OFS3_Z: COMPASS\_OFS3\_Z: Compass3 offsets in milligauss on the Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset to be added to compass3\'s z\-axis values to compensate for metal in the frame +-------------+-----------+-------------+------------+ | Calibration | Increment | Range | Units | +=============+===========+=============+============+ | 1 | 1 | -400 to 400 | milligauss | +-------------+-----------+-------------+------------+ .. _COMPASS_MOT3_X: COMPASS\_MOT3\_X: Motor interference compensation to compass3 for body frame X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplied by the current throttle and added to compass3\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) +-------------+-----------+---------------+-----------------------+ | Calibration | Increment | Range | Units | +=============+===========+===============+=======================+ | 1 | 1 | -1000 to 1000 | milligauss per ampere | +-------------+-----------+---------------+-----------------------+ .. _COMPASS_MOT3_Y: COMPASS\_MOT3\_Y: Motor interference compensation to compass3 for body frame Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplied by the current throttle and added to compass3\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) +-------------+-----------+---------------+-----------------------+ | Calibration | Increment | Range | Units | +=============+===========+===============+=======================+ | 1 | 1 | -1000 to 1000 | milligauss per ampere | +-------------+-----------+---------------+-----------------------+ .. _COMPASS_MOT3_Z: COMPASS\_MOT3\_Z: Motor interference compensation to compass3 for body frame Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Multiplied by the current throttle and added to compass3\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) +-------------+-----------+---------------+-----------------------+ | Calibration | Increment | Range | Units | +=============+===========+===============+=======================+ | 1 | 1 | -1000 to 1000 | milligauss per ampere | +-------------+-----------+---------------+-----------------------+ .. _COMPASS_DEV_ID: COMPASS\_DEV\_ID: Compass device id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compass device id\. Automatically detected\, do not set manually +----------+ | ReadOnly | +==========+ | True | +----------+ .. _COMPASS_DEV_ID2: COMPASS\_DEV\_ID2: Compass2 device id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second compass\'s device id\. Automatically detected\, do not set manually +----------+ | ReadOnly | +==========+ | True | +----------+ .. _COMPASS_DEV_ID3: COMPASS\_DEV\_ID3: Compass3 device id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third compass\'s device id\. Automatically detected\, do not set manually +----------+ | ReadOnly | +==========+ | True | +----------+ .. _COMPASS_USE2: COMPASS\_USE2: Compass2 used for yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable or disable the secondary compass for determining heading\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _COMPASS_ORIENT2: COMPASS\_ORIENT2: Compass2 orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The orientation of a second external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | None | +-------+----------------------+ | 1 | Yaw45 | +-------+----------------------+ | 2 | Yaw90 | +-------+----------------------+ | 3 | Yaw135 | +-------+----------------------+ | 4 | Yaw180 | +-------+----------------------+ | 5 | Yaw225 | +-------+----------------------+ | 6 | Yaw270 | +-------+----------------------+ | 7 | Yaw315 | +-------+----------------------+ | 8 | Roll180 | +-------+----------------------+ | 9 | Yaw45Roll180 | +-------+----------------------+ | 10 | Yaw90Roll180 | +-------+----------------------+ | 11 | Yaw135Roll180 | +-------+----------------------+ | 12 | Pitch180 | +-------+----------------------+ | 13 | Yaw225Roll180 | +-------+----------------------+ | 14 | Yaw270Roll180 | +-------+----------------------+ | 15 | Yaw315Roll180 | +-------+----------------------+ | 16 | Roll90 | +-------+----------------------+ | 17 | Yaw45Roll90 | +-------+----------------------+ | 18 | Yaw90Roll90 | +-------+----------------------+ | 19 | Yaw135Roll90 | +-------+----------------------+ | 20 | Roll270 | +-------+----------------------+ | 21 | Yaw45Roll270 | +-------+----------------------+ | 22 | Yaw90Roll270 | +-------+----------------------+ | 23 | Yaw135Roll270 | +-------+----------------------+ | 24 | Pitch90 | +-------+----------------------+ | 25 | Pitch270 | +-------+----------------------+ | 26 | Yaw90Pitch180 | +-------+----------------------+ | 27 | Yaw270Pitch180 | +-------+----------------------+ | 28 | Pitch90Roll90 | +-------+----------------------+ | 29 | Pitch90Roll180 | +-------+----------------------+ | 30 | Pitch90Roll270 | +-------+----------------------+ | 31 | Pitch180Roll90 | +-------+----------------------+ | 32 | Pitch180Roll270 | +-------+----------------------+ | 33 | Pitch270Roll90 | +-------+----------------------+ | 34 | Pitch270Roll180 | +-------+----------------------+ | 35 | Pitch270Roll270 | +-------+----------------------+ | 36 | Yaw90Pitch180Roll90 | +-------+----------------------+ | 37 | Yaw270Roll90 | +-------+----------------------+ | 38 | Yaw293Pitch68Roll180 | +-------+----------------------+ | 39 | Pitch315 | +-------+----------------------+ | 40 | Pitch315Roll90 | +-------+----------------------+ | 42 | Roll45 | +-------+----------------------+ | 43 | Roll315 | +-------+----------------------+ | 100 | Custom 4.1 and older | +-------+----------------------+ | 101 | Custom 1 | +-------+----------------------+ | 102 | Custom 2 | +-------+----------------------+ .. _COMPASS_EXTERN2: COMPASS\_EXTERN2: Compass2 is attached via an external cable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Configure second compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. +-------+----------------+ | Value | Meaning | +=======+================+ | 0 | Internal | +-------+----------------+ | 1 | External | +-------+----------------+ | 2 | ForcedExternal | +-------+----------------+ .. _COMPASS_USE3: COMPASS\_USE3: Compass3 used for yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable or disable the tertiary compass for determining heading\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _COMPASS_ORIENT3: COMPASS\_ORIENT3: Compass3 orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The orientation of a third external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | None | +-------+----------------------+ | 1 | Yaw45 | +-------+----------------------+ | 2 | Yaw90 | +-------+----------------------+ | 3 | Yaw135 | +-------+----------------------+ | 4 | Yaw180 | +-------+----------------------+ | 5 | Yaw225 | +-------+----------------------+ | 6 | Yaw270 | +-------+----------------------+ | 7 | Yaw315 | +-------+----------------------+ | 8 | Roll180 | +-------+----------------------+ | 9 | Yaw45Roll180 | +-------+----------------------+ | 10 | Yaw90Roll180 | +-------+----------------------+ | 11 | Yaw135Roll180 | +-------+----------------------+ | 12 | Pitch180 | +-------+----------------------+ | 13 | Yaw225Roll180 | +-------+----------------------+ | 14 | Yaw270Roll180 | +-------+----------------------+ | 15 | Yaw315Roll180 | +-------+----------------------+ | 16 | Roll90 | +-------+----------------------+ | 17 | Yaw45Roll90 | +-------+----------------------+ | 18 | Yaw90Roll90 | +-------+----------------------+ | 19 | Yaw135Roll90 | +-------+----------------------+ | 20 | Roll270 | +-------+----------------------+ | 21 | Yaw45Roll270 | +-------+----------------------+ | 22 | Yaw90Roll270 | +-------+----------------------+ | 23 | Yaw135Roll270 | +-------+----------------------+ | 24 | Pitch90 | +-------+----------------------+ | 25 | Pitch270 | +-------+----------------------+ | 26 | Yaw90Pitch180 | +-------+----------------------+ | 27 | Yaw270Pitch180 | +-------+----------------------+ | 28 | Pitch90Roll90 | +-------+----------------------+ | 29 | Pitch90Roll180 | +-------+----------------------+ | 30 | Pitch90Roll270 | +-------+----------------------+ | 31 | Pitch180Roll90 | +-------+----------------------+ | 32 | Pitch180Roll270 | +-------+----------------------+ | 33 | Pitch270Roll90 | +-------+----------------------+ | 34 | Pitch270Roll180 | +-------+----------------------+ | 35 | Pitch270Roll270 | +-------+----------------------+ | 36 | Yaw90Pitch180Roll90 | +-------+----------------------+ | 37 | Yaw270Roll90 | +-------+----------------------+ | 38 | Yaw293Pitch68Roll180 | +-------+----------------------+ | 39 | Pitch315 | +-------+----------------------+ | 40 | Pitch315Roll90 | +-------+----------------------+ | 42 | Roll45 | +-------+----------------------+ | 43 | Roll315 | +-------+----------------------+ | 100 | Custom 4.1 and older | +-------+----------------------+ | 101 | Custom 1 | +-------+----------------------+ | 102 | Custom 2 | +-------+----------------------+ .. _COMPASS_EXTERN3: COMPASS\_EXTERN3: Compass3 is attached via an external cable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Configure third compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. +-------+----------------+ | Value | Meaning | +=======+================+ | 0 | Internal | +-------+----------------+ | 1 | External | +-------+----------------+ | 2 | ForcedExternal | +-------+----------------+ .. _COMPASS_DIA_X: COMPASS\_DIA\_X: Compass soft\-iron diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_DIA_Y: COMPASS\_DIA\_Y: Compass soft\-iron diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_DIA_Z: COMPASS\_DIA\_Z: Compass soft\-iron diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_ODI_X: COMPASS\_ODI\_X: Compass soft\-iron off\-diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_ODI_Y: COMPASS\_ODI\_Y: Compass soft\-iron off\-diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_ODI_Z: COMPASS\_ODI\_Z: Compass soft\-iron off\-diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_DIA2_X: COMPASS\_DIA2\_X: Compass2 soft\-iron diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_DIA2_Y: COMPASS\_DIA2\_Y: Compass2 soft\-iron diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_DIA2_Z: COMPASS\_DIA2\_Z: Compass2 soft\-iron diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_ODI2_X: COMPASS\_ODI2\_X: Compass2 soft\-iron off\-diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_ODI2_Y: COMPASS\_ODI2\_Y: Compass2 soft\-iron off\-diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_ODI2_Z: COMPASS\_ODI2\_Z: Compass2 soft\-iron off\-diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_DIA3_X: COMPASS\_DIA3\_X: Compass3 soft\-iron diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_DIA3_Y: COMPASS\_DIA3\_Y: Compass3 soft\-iron diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_DIA3_Z: COMPASS\_DIA3\_Z: Compass3 soft\-iron diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_ODI3_X: COMPASS\_ODI3\_X: Compass3 soft\-iron off\-diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_ODI3_Y: COMPASS\_ODI3\_Y: Compass3 soft\-iron off\-diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_ODI3_Z: COMPASS\_ODI3\_Z: Compass3 soft\-iron off\-diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _COMPASS_CAL_FIT: COMPASS\_CAL\_FIT: Compass calibration fitness ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the fitness level required for a successful compass calibration\. A lower value makes for a stricter fit \(less likely to pass\)\. This is the value used for the primary magnetometer\. Other magnetometers get double the value\. +-------+-------------+ | Value | Meaning | +=======+=============+ | 4 | Very Strict | +-------+-------------+ | 8 | Strict | +-------+-------------+ | 16 | Default | +-------+-------------+ | 32 | Relaxed | +-------+-------------+ +-----------+---------+ | Increment | Range | +===========+=========+ | 0.1 | 4 to 32 | +-----------+---------+ .. _COMPASS_OFFS_MAX: COMPASS\_OFFS\_MAX: Compass maximum offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the maximum allowed compass offset in calibration and arming checks +-----------+-------------+ | Increment | Range | +===========+=============+ | 1 | 500 to 3000 | +-----------+-------------+ .. _COMPASS_DISBLMSK: COMPASS\_DISBLMSK: Compass disable driver type mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is a bitmask of driver types to disable\. If a driver type is set in this mask then that driver will not try to find a sensor at startup +-----+--------------------+ | Bit | Meaning | +=====+====================+ | 0 | HMC5883 | +-----+--------------------+ | 1 | LSM303D | +-----+--------------------+ | 2 | AK8963 | +-----+--------------------+ | 3 | BMM150 | +-----+--------------------+ | 4 | LSM9DS1 | +-----+--------------------+ | 5 | LIS3MDL | +-----+--------------------+ | 6 | AK0991x | +-----+--------------------+ | 7 | IST8310 | +-----+--------------------+ | 8 | ICM20948 | +-----+--------------------+ | 9 | MMC3416 | +-----+--------------------+ | 11 | DroneCAN | +-----+--------------------+ | 12 | QMC5883 | +-----+--------------------+ | 14 | MAG3110 | +-----+--------------------+ | 15 | IST8308 | +-----+--------------------+ | 16 | RM3100 | +-----+--------------------+ | 17 | MSP | +-----+--------------------+ | 18 | ExternalAHRS | +-----+--------------------+ | 19 | MMC5XX3 | +-----+--------------------+ | 20 | QMC5883P | +-----+--------------------+ | 21 | BMM350 | +-----+--------------------+ | 22 | IIS2MDC or LIS2MDL | +-----+--------------------+ | 24 | AF9838 | +-----+--------------------+ | 25 | AK09940A | +-----+--------------------+ .. _COMPASS_FLTR_RNG: COMPASS\_FLTR\_RNG: Range in which sample is accepted ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _COMPASS_AUTO_ROT: COMPASS\_AUTO\_ROT: Automatically check orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled this will automatically check the orientation of compasses on successful completion of compass calibration\. If set to 2 then external compasses will have their orientation automatically corrected\. +-------+----------------------------------------------------+ | Value | Meaning | +=======+====================================================+ | 0 | Disabled | +-------+----------------------------------------------------+ | 1 | CheckOnly | +-------+----------------------------------------------------+ | 2 | CheckAndFix | +-------+----------------------------------------------------+ | 3 | use same tolerance to auto rotate 45 deg rotations | +-------+----------------------------------------------------+ .. _COMPASS_PRIO1_ID: COMPASS\_PRIO1\_ID: Compass device id with 1st order priority ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Compass device id with 1st order priority\, set automatically if 0\. Reboot required after change\. .. _COMPASS_PRIO2_ID: COMPASS\_PRIO2\_ID: Compass device id with 2nd order priority ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Compass device id with 2nd order priority\, set automatically if 0\. Reboot required after change\. .. _COMPASS_PRIO3_ID: COMPASS\_PRIO3\_ID: Compass device id with 3rd order priority ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Compass device id with 3rd order priority\, set automatically if 0\. Reboot required after change\. .. _COMPASS_ENABLE: COMPASS\_ENABLE: Enable Compass ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* 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 | +-------+----------+ .. _COMPASS_SCALE: COMPASS\_SCALE: Compass1 scale factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor for first compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done +----------+ | Range | +==========+ | 0 to 1.3 | +----------+ .. _COMPASS_SCALE2: COMPASS\_SCALE2: Compass2 scale factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor for 2nd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done +----------+ | Range | +==========+ | 0 to 1.3 | +----------+ .. _COMPASS_SCALE3: COMPASS\_SCALE3: Compass3 scale factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor for 3rd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done +----------+ | Range | +==========+ | 0 to 1.3 | +----------+ .. _COMPASS_OPTIONS: COMPASS\_OPTIONS: Compass options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets options to change the behaviour of the compass +-----+-------------------------------------------------------------------------------------------+ | Bit | Meaning | +=====+===========================================================================================+ | 0 | CalRequireGPS | +-----+-------------------------------------------------------------------------------------------+ | 1 | Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) | +-----+-------------------------------------------------------------------------------------------+ .. _COMPASS_DEV_ID4: COMPASS\_DEV\_ID4: Compass4 device id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Extra 4th compass\'s device id\. Automatically detected\, do not set manually +----------+ | ReadOnly | +==========+ | True | +----------+ .. _COMPASS_DEV_ID5: COMPASS\_DEV\_ID5: Compass5 device id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Extra 5th compass\'s device id\. Automatically detected\, do not set manually +----------+ | ReadOnly | +==========+ | True | +----------+ .. _COMPASS_DEV_ID6: COMPASS\_DEV\_ID6: Compass6 device id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Extra 6th compass\'s device id\. Automatically detected\, do not set manually +----------+ | ReadOnly | +==========+ | True | +----------+ .. _COMPASS_DEV_ID7: COMPASS\_DEV\_ID7: Compass7 device id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Extra 7th compass\'s device id\. Automatically detected\, do not set manually +----------+ | ReadOnly | +==========+ | True | +----------+ .. _COMPASS_DEV_ID8: COMPASS\_DEV\_ID8: Compass8 device id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Extra 8th compass\'s device id\. Automatically detected\, do not set manually +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_COMPASS_PMOT: COMPASS\_PMOT Parameters ------------------------ .. _COMPASS_PMOT_EN: COMPASS\_PMOT\_EN: per\-motor compass correction enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables per\-motor compass corrections +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _COMPASS_PMOT_EXP: COMPASS\_PMOT\_EXP: per\-motor exponential correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the exponential correction for the power output of the motor for per\-motor compass correction +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 2 | +-----------+--------+ .. _COMPASS_PMOT1_X: COMPASS\_PMOT1\_X: Compass per\-motor1 X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for X axis of motor1 .. _COMPASS_PMOT1_Y: COMPASS\_PMOT1\_Y: Compass per\-motor1 Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for Y axis of motor1 .. _COMPASS_PMOT1_Z: COMPASS\_PMOT1\_Z: Compass per\-motor1 Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for Z axis of motor1 .. _COMPASS_PMOT2_X: COMPASS\_PMOT2\_X: Compass per\-motor2 X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for X axis of motor2 .. _COMPASS_PMOT2_Y: COMPASS\_PMOT2\_Y: Compass per\-motor2 Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for Y axis of motor2 .. _COMPASS_PMOT2_Z: COMPASS\_PMOT2\_Z: Compass per\-motor2 Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for Z axis of motor2 .. _COMPASS_PMOT3_X: COMPASS\_PMOT3\_X: Compass per\-motor3 X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for X axis of motor3 .. _COMPASS_PMOT3_Y: COMPASS\_PMOT3\_Y: Compass per\-motor3 Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for Y axis of motor3 .. _COMPASS_PMOT3_Z: COMPASS\_PMOT3\_Z: Compass per\-motor3 Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for Z axis of motor3 .. _COMPASS_PMOT4_X: COMPASS\_PMOT4\_X: Compass per\-motor4 X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for X axis of motor4 .. _COMPASS_PMOT4_Y: COMPASS\_PMOT4\_Y: Compass per\-motor4 Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for Y axis of motor4 .. _COMPASS_PMOT4_Z: COMPASS\_PMOT4\_Z: Compass per\-motor4 Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compensation for Z axis of motor4 .. _parameters_CUST_ROT: CUST\_ROT Parameters -------------------- .. _CUST_ROT_ENABLE: CUST\_ROT\_ENABLE: Enable Custom rotations ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This enables custom rotations +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _parameters_CUST_ROT1_: CUST\_ROT1\_ Parameters ----------------------- .. _CUST_ROT1_ROLL: CUST\_ROT1\_ROLL: Custom roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _CUST_ROT1_PITCH: CUST\_ROT1\_PITCH: Custom pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _CUST_ROT1_YAW: CUST\_ROT1\_YAW: Custom yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _parameters_CUST_ROT2_: CUST\_ROT2\_ Parameters ----------------------- .. _CUST_ROT2_ROLL: CUST\_ROT2\_ROLL: Custom roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _CUST_ROT2_PITCH: CUST\_ROT2\_PITCH: Custom pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _CUST_ROT2_YAW: CUST\_ROT2\_YAW: Custom yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _parameters_DDS: DDS Parameters -------------- .. _DDS_ENABLE: DDS\_ENABLE: DDS enable ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable DDS subsystem +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _DDS_UDP_PORT: DDS\_UDP\_PORT: DDS UDP port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* UDP port number for DDS +------------+ | Range | +============+ | 1 to 65535 | +------------+ .. _DDS_DOMAIN_ID: DDS\_DOMAIN\_ID: DDS DOMAIN ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Set the ROS\_DOMAIN\_ID +----------+ | Range | +==========+ | 0 to 232 | +----------+ .. _DDS_TIMEOUT_MS: DDS\_TIMEOUT\_MS: DDS ping timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting\. +-----------+------------+--------------+ | Increment | Range | Units | +===========+============+==============+ | 1 | 1 to 10000 | milliseconds | +-----------+------------+--------------+ .. _DDS_MAX_RETRY: DDS\_MAX\_RETRY: DDS ping max attempts ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting\. Set to 0 to allow unlimited retries\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 100 | +-----------+----------+ .. _DDS_USE_NS: DDS\_USE\_NS: DDS namespace ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* When enabled\, ROS 2 topic and service names include a v\ segment +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _parameters_DDS_IP: DDS\_IP Parameters ------------------ .. _DDS_IP0: DDS\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _DDS_IP1: DDS\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _DDS_IP2: DDS\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _DDS_IP3: DDS\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_DID_: DID\_ Parameters ---------------- .. _DID_ENABLE: DID\_ENABLE: Enable ODID subsystem ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable ODID subsystem +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _DID_MAVPORT: DID\_MAVPORT: MAVLink serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Serial port number to send OpenDroneID MAVLink messages to\. Can be \-1 if using DroneCAN\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ .. _DID_CANDRIVER: DID\_CANDRIVER: DroneCAN driver number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ DroneCAN driver index\, 0 to disable DroneCAN +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Driver1 | +-------+----------+ | 2 | Driver2 | +-------+----------+ .. _DID_OPTIONS: DID\_OPTIONS: OpenDroneID options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for OpenDroneID subsystem +-----+---------------------------+ | Bit | Meaning | +=====+===========================+ | 0 | EnforcePreArmChecks | +-----+---------------------------+ | 1 | AllowNonGPSPosition | +-----+---------------------------+ | 2 | LockUASIDOnFirstBasicIDRx | +-----+---------------------------+ .. _DID_BARO_ACC: DID\_BARO\_ACC: Barometer vertical accuraacy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer Vertical Accuracy when installed in the vehicle\. Note this is dependent upon installation conditions and thus disabled by default +--------+ | Units | +========+ | meters | +--------+ .. _parameters_DOCK: DOCK Parameters --------------- .. _DOCK_SPEED: DOCK\_SPEED: Dock mode speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle speed limit in dock mode +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 0.1 | 0 to 100 | meters per second | +-----------+----------+-------------------+ .. _DOCK_DIR: DOCK\_DIR: Dock mode direction of approach ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compass direction in which vehicle should approach towards dock\. \-1 value represents unset parameter +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 360 | degrees | +-----------+----------+---------+ .. _DOCK_HDG_CORR_EN: DOCK\_HDG\_CORR\_EN: Dock mode heading correction enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When enabled\, the autopilot modifies the path to approach the target head\-on along desired line of approach in dock mode +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _DOCK_HDG_CORR_WT: DOCK\_HDG\_CORR\_WT: Dock mode heading correction weight ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This value describes how aggressively vehicle tries to correct its heading to be on desired line of approach +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.05 | 0.00 to 0.90 | +-----------+--------------+ .. _DOCK_STOP_DIST: DOCK\_STOP\_DIST: Distance from docking target when we should stop ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The vehicle starts stopping when it is this distance away from docking target +-----------+--------+--------+ | Increment | Range | Units | +===========+========+========+ | 0.01 | 0 to 2 | meters | +-----------+--------+--------+ .. _parameters_EAHRS: EAHRS Parameters ---------------- .. _EAHRS_TYPE: EAHRS\_TYPE: AHRS type ~~~~~~~~~~~~~~~~~~~~~~ Type of AHRS device +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 1 | VectorNav | +-------+--------------+ | 2 | MicroStrain5 | +-------+--------------+ | 5 | InertialLabs | +-------+--------------+ | 6 | Trimble GSOF | +-------+--------------+ | 7 | MicroStrain7 | +-------+--------------+ | 8 | SBG | +-------+--------------+ | 10 | Aeron | +-------+--------------+ | 11 | SensAItion | +-------+--------------+ .. _EAHRS_RATE: EAHRS\_RATE: AHRS data rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Requested rate for AHRS device +-------+ | Units | +=======+ | hertz | +-------+ .. _EAHRS_OPTIONS: EAHRS\_OPTIONS: External AHRS options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ External AHRS options bitmask +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | Vector Nav use uncompensated values for accel gyro and mag | +-----+------------------------------------------------------------+ | 1 | SBG uses EKF as GNSS | +-----+------------------------------------------------------------+ | 2 | SensAItion used as AHRS | +-----+------------------------------------------------------------+ .. _EAHRS_SENSORS: EAHRS\_SENSORS: External AHRS sensors ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* External AHRS sensors bitmask +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | GPS | +-----+---------+ | 1 | IMU | +-----+---------+ | 2 | Baro | +-----+---------+ | 3 | Compass | +-----+---------+ .. _EAHRS_LOG_RATE: EAHRS\_LOG\_RATE: AHRS logging rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Logging rate for EAHRS devices +-------+ | Units | +=======+ | hertz | +-------+ .. _parameters_EFI: EFI Parameters -------------- .. _EFI_TYPE: EFI\_TYPE: EFI communication type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* What method of communication is used for EFI \#1 +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | None | +-------+---------------+ | 1 | Serial-MS | +-------+---------------+ | 2 | NWPMU | +-------+---------------+ | 3 | Serial-Lutan | +-------+---------------+ | 4 | Loweheiser | +-------+---------------+ | 5 | DroneCAN | +-------+---------------+ | 6 | Currawong-ECU | +-------+---------------+ | 7 | Scripting | +-------+---------------+ | 8 | Hirth | +-------+---------------+ | 9 | MAVLink | +-------+---------------+ .. _EFI_COEF1: EFI\_COEF1: EFI Calibration Coefficient 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to calibrate fuel flow for MS protocol \(Slope\)\. This should be calculated from a log at constant fuel usage rate\. Plot \(ECYL\[0\]\.InjT\*EFI\.Rpm\)\/600\.0 to get the duty\_cycle\. Measure actual fuel usage in cm\^3\/min\, and set EFI\_COEF1 \= fuel\_usage\_cm3permin \/ duty\_cycle +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _EFI_COEF2: EFI\_COEF2: EFI Calibration Coefficient 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to calibrate fuel flow for MS protocol \(Offset\)\. This can be used to correct for a non\-zero offset in the fuel consumption calculation of EFI\_COEF1 +---------+ | Range | +=========+ | 0 to 10 | +---------+ .. _EFI_FUEL_DENS: EFI\_FUEL\_DENS: ECU Fuel Density ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used to calculate fuel consumption +------------+---------------------------+ | Range | Units | +============+===========================+ | 0 to 10000 | kilograms per cubic meter | +------------+---------------------------+ .. _parameters_EFI_THRLIN: EFI\_THRLIN Parameters ---------------------- .. _EFI_THRLIN_EN: EFI\_THRLIN\_EN: Enable throttle linearisation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable EFI throttle linearisation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EFI_THRLIN_COEF1: EFI\_THRLIN\_COEF1: Throttle linearisation \- First Order ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* First Order Polynomial Coefficient\. \(\=1\, if throttle is first order polynomial trendline\) +---------+ | Range | +=========+ | -1 to 1 | +---------+ .. _EFI_THRLIN_COEF2: EFI\_THRLIN\_COEF2: Throttle linearisation \- Second Order ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Second Order Polynomial Coefficient \(\=0\, if throttle is second order polynomial trendline\) +---------+ | Range | +=========+ | -1 to 1 | +---------+ .. _EFI_THRLIN_COEF3: EFI\_THRLIN\_COEF3: Throttle linearisation \- Third Order ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Third Order Polynomial Coefficient\. \(\=0\, if throttle is third order polynomial trendline\) +---------+ | Range | +=========+ | -1 to 1 | +---------+ .. _EFI_THRLIN_OFS: EFI\_THRLIN\_OFS: throttle linearization offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Offset for throttle linearization +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _parameters_EK2_: EK2\_ Parameters ---------------- .. _EK2_ENABLE: EK2\_ENABLE: Enable EKF2 ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This enables EKF2\. Enabling EKF2 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=2\. A reboot or restart will need to be performed after changing the value of EK2\_ENABLE for it to take effect\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EK2_GPS_TYPE: EK2\_GPS\_TYPE: GPS mode control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls use of GPS measurements \: 0 \= use 3D velocity \& 2D position\, 1 \= use 2D velocity and 2D position\, 2 \= use 2D position\, 3 \= Inhibit GPS use \- this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors\. +-------+-----------------------+ | Value | Meaning | +=======+=======================+ | 0 | GPS 3D Vel and 2D Pos | +-------+-----------------------+ | 1 | GPS 2D vel and 2D pos | +-------+-----------------------+ | 2 | GPS 2D pos | +-------+-----------------------+ | 3 | No GPS | +-------+-----------------------+ .. _EK2_VELNE_M_NSE: EK2\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 5.0 | meters per second | +-----------+-------------+-------------------+ .. _EK2_VELD_M_NSE: EK2\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 5.0 | meters per second | +-----------+-------------+-------------------+ .. _EK2_VEL_I_GATE: EK2\_VEL\_I\_GATE: GPS velocity innovation gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_POSNE_M_NSE: EK2\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK2_POS_I_GATE: EK2\_POS\_I\_GATE: GPS position measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_GLITCH_RAD: EK2\_GLITCH\_RAD: GPS glitch radius gate size \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. +-----------+-----------+--------+ | Increment | Range | Units | +===========+===========+========+ | 5 | 10 to 100 | meters | +-----------+-----------+--------+ .. _EK2_ALT_SOURCE: EK2\_ALT\_SOURCE: Primary altitude sensor source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Primary height sensor used by the EKF\. If a sensor other than Baro is selected and becomes unavailable\, then the Baro sensor will be used as a fallback\. NOTE\: The EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground in conjunction with EK2\_ALT\_SOURCE \= 0 or 2 \(Baro or GPS\)\. +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Use Baro | +-------+------------------+ | 1 | Use Range Finder | +-------+------------------+ | 2 | Use GPS | +-------+------------------+ | 3 | Use Range Beacon | +-------+------------------+ .. _EK2_ALT_M_NSE: EK2\_ALT\_M\_NSE: Altitude measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK2_HGT_I_GATE: EK2\_HGT\_I\_GATE: Height measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_HGT_DELAY: EK2\_HGT\_DELAY: Height measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the Height measurements lag behind the inertial measurements\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 250 | milliseconds | +-----------+----------+--------------+ .. _EK2_MAG_M_NSE: EK2\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+-------+ | Increment | Range | Units | +===========+=============+=======+ | 0.01 | 0.01 to 0.5 | gauss | +-----------+-------------+-------+ .. _EK2_MAG_CAL: EK2\_MAG\_CAL: Magnetometer default fusion mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states\, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK2\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK2\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK2\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK2\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK2\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK2\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 with COMPASS\_ENABLE set to 1\. If this is done\, the EK2\_GSF\_RUN and EK2\_GSF\_USE masks must be set to the same as EK2\_IMU\_MASK\. +-------+-----------------------------+ | Value | Meaning | +=======+=============================+ | 0 | When flying | +-------+-----------------------------+ | 1 | When manoeuvring | +-------+-----------------------------+ | 2 | Never | +-------+-----------------------------+ | 3 | After first climb yaw reset | +-------+-----------------------------+ | 4 | Always | +-------+-----------------------------+ .. _EK2_MAG_I_GATE: EK2\_MAG\_I\_GATE: Magnetometer measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_EAS_M_NSE: EK2\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.1 | 0.5 to 5.0 | meters per second | +-----------+------------+-------------------+ .. _EK2_EAS_I_GATE: EK2\_EAS\_I\_GATE: Airspeed measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_RNG_M_NSE: EK2\_RNG\_M\_NSE: Range finder measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK2_RNG_I_GATE: EK2\_RNG\_I\_GATE: Range finder measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_MAX_FLOW: EK2\_MAX\_FLOW: Maximum valid optical flow rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter +-----------+------------+--------------------+ | Increment | Range | Units | +===========+============+====================+ | 0.1 | 1.0 to 4.0 | radians per second | +-----------+------------+--------------------+ .. _EK2_FLOW_M_NSE: EK2\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+--------------------+ | Increment | Range | Units | +===========+=============+====================+ | 0.05 | 0.05 to 1.0 | radians per second | +-----------+-------------+--------------------+ .. _EK2_FLOW_I_GATE: EK2\_FLOW\_I\_GATE: Optical Flow measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_FLOW_DELAY: EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 127 | milliseconds | +-----------+----------+--------------+ .. _EK2_GYRO_P_NSE: EK2\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. +-----------+---------------+--------------------+ | Increment | Range | Units | +===========+===============+====================+ | 0.0001 | 0.0001 to 0.1 | radians per second | +-----------+---------------+--------------------+ .. _EK2_ACC_P_NSE: EK2\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.01 | 0.01 to 1.0 | meters per square second | +-----------+-------------+--------------------------+ .. _EK2_GBIAS_P_NSE: EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. +------------------+---------------------------+ | Range | Units | +==================+===========================+ | 0.00001 to 0.001 | radians per square second | +------------------+---------------------------+ .. _EK2_GSCL_P_NSE: EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\. +-------------------+-------+ | Range | Units | +===================+=======+ | 0.000001 to 0.001 | hertz | +-------------------+-------+ .. _EK2_ABIAS_P_NSE: EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. +------------------+-------------------------+ | Range | Units | +==================+=========================+ | 0.00001 to 0.005 | meters per cubic second | +------------------+-------------------------+ .. _EK2_WIND_P_NSE: EK2\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.1 | 0.01 to 1.0 | meters per square second | +-----------+-------------+--------------------------+ .. _EK2_WIND_PSCALE: EK2\_WIND\_PSCALE: Height rate to wind process noise scaler ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.0 to 1.0 | +-----------+------------+ .. _EK2_GPS_CHECK: EK2\_GPS\_CHECK: GPS preflight check ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. +-----+----------------+ | Bit | Meaning | +=====+================+ | 0 | NSats | +-----+----------------+ | 1 | HDoP | +-----+----------------+ | 2 | speed error | +-----+----------------+ | 3 | position error | +-----+----------------+ | 4 | yaw error | +-----+----------------+ | 5 | pos drift | +-----+----------------+ | 6 | vert speed | +-----+----------------+ | 7 | horiz speed | +-----+----------------+ .. _EK2_IMU_MASK: EK2\_IMU\_MASK: Bitmask of active IMUs ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of IMUs to use in EKF2\. A separate instance of EKF2 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF2 will fail to start\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | FirstIMU | +-----+-----------+ | 1 | SecondIMU | +-----+-----------+ | 2 | ThirdIMU | +-----+-----------+ | 3 | FourthIMU | +-----+-----------+ | 4 | FifthIMU | +-----+-----------+ | 5 | SixthIMU | +-----+-----------+ .. _EK2_CHECK_SCALE: EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. +-----------+---------+ | Range | Units | +===========+=========+ | 50 to 200 | percent | +-----------+---------+ .. _EK2_NOAID_M_NSE: EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. +-------------+--------+ | Range | Units | +=============+========+ | 0.5 to 50.0 | meters | +-------------+--------+ .. _EK2_YAW_M_NSE: EK2\_YAW\_M\_NSE: Yaw measurement noise \(rad\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 0.05 | 0.05 to 1.0 | radians | +-----------+-------------+---------+ .. _EK2_YAW_I_GATE: EK2\_YAW\_I\_GATE: Yaw measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_TAU_OUTPUT: EK2\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 5 | 10 to 50 | centiseconds | +-----------+----------+--------------+ .. _EK2_MAGE_P_NSE: EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. +-----------------+------------------+ | Range | Units | +=================+==================+ | 0.00001 to 0.01 | gauss per second | +-----------------+------------------+ .. _EK2_MAGB_P_NSE: EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. +-----------------+------------------+ | Range | Units | +=================+==================+ | 0.00001 to 0.01 | gauss per second | +-----------------+------------------+ .. _EK2_RNG_USE_HGT: EK2\_RNG\_USE\_HGT: Range finder switch height percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFND\*\_MAX\)\. This will not work unless Baro or GPS height is selected as the primary height source vis EK2\_ALT\_SOURCE \= 0 or 2 respectively\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | -1 to 70 | percent | +-----------+----------+---------+ .. _EK2_TERR_GRAD: EK2\_TERR\_GRAD: Maximum terrain gradient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.01 | 0 to 0.2 | +-----------+----------+ .. _EK2_BCN_M_NSE: EK2\_BCN\_M\_NSE: Range beacon measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK2_BCN_I_GTE: EK2\_BCN\_I\_GTE: Range beacon measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_BCN_DELAY: EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the range beacon measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 127 | milliseconds | +-----------+----------+--------------+ .. _EK2_RNG_USE_SPD: EK2\_RNG\_USE\_SPD: Range finder max ground speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.5 | 2.0 to 6.0 | meters per second | +-----------+------------+-------------------+ .. _EK2_MAG_MASK: EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | FirstEKF | +-----+-----------+ | 1 | SecondEKF | +-----+-----------+ | 2 | ThirdEKF | +-----+-----------+ | 3 | FourthEKF | +-----+-----------+ | 4 | FifthEKF | +-----+-----------+ | 5 | SixthEKF | +-----+-----------+ .. _EK2_OGN_HGT_MASK: EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. +-----+----------------------------------------+ | Bit | Meaning | +=====+========================================+ | 0 | Correct when using Baro height | +-----+----------------------------------------+ | 1 | Correct when using range finder height | +-----+----------------------------------------+ | 2 | Apply corrections to local position | +-----+----------------------------------------+ .. _EK2_FLOW_USE: EK2\_FLOW\_USE: Optical flow use bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | None | +-------+------------+ | 1 | Navigation | +-------+------------+ | 2 | Terrain | +-------+------------+ .. _EK2_MAG_EF_LIM: EK2\_MAG\_EF\_LIM: EarthField error limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. +----------+------------+ | Range | Units | +==========+============+ | 0 to 500 | milligauss | +----------+------------+ .. _EK2_HRT_FILT: EK2\_HRT\_FILT: Height rate filter crossover frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. +-------------+-------+ | Range | Units | +=============+=======+ | 0.1 to 30.0 | hertz | +-------------+-------+ .. _EK2_GSF_RUN_MASK: EK2\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A bitmask of which EKF2 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK2\_GSF\_USE\_MASK and EK2\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK2\_GSF\_USE\_MASK to 0\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | FirstEKF | +-----+-----------+ | 1 | SecondEKF | +-----+-----------+ | 2 | ThirdEKF | +-----+-----------+ | 3 | FourthEKF | +-----+-----------+ | 4 | FifthEKF | +-----+-----------+ | 5 | SixthEKF | +-----+-----------+ .. _EK2_GSF_USE_MASK: EK2\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of which EKF2 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK2\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF2 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | FirstEKF | +-----+-----------+ | 1 | SecondEKF | +-----+-----------+ | 2 | ThirdEKF | +-----+-----------+ | 3 | FourthEKF | +-----+-----------+ | 4 | FifthEKF | +-----+-----------+ | 5 | SixthEKF | +-----+-----------+ .. _EK2_GSF_RST_MAX: EK2\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK2\_GSF\_USE\_MASK parameter\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 10 | +-----------+---------+ .. _EK2_OPTIONS: EK2\_OPTIONS: Optional EKF behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* optional EKF2 behaviour\. Disabling external navigation prevents use of external vision data in the EKF2 solution +-----+---------------------------+ | Bit | Meaning | +=====+===========================+ | 0 | DisableExternalNavigation | +-----+---------------------------+ .. _parameters_EK3_: EK3\_ Parameters ---------------- .. _EK3_ENABLE: EK3\_ENABLE: Enable EKF3 ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This enables EKF3\. Enabling EKF3 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=3\. A reboot or restart will need to be performed after changing the value of EK3\_ENABLE for it to take effect\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _EK3_VELNE_M_NSE: EK3\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 5.0 | meters per second | +-----------+-------------+-------------------+ .. _EK3_VELD_M_NSE: EK3\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 5.0 | meters per second | +-----------+-------------+-------------------+ .. _EK3_VEL_I_GATE: EK3\_VEL\_I\_GATE: GPS velocity innovation gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_VEL\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_POSNE_M_NSE: EK3\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK3_POS_I_GATE: EK3\_POS\_I\_GATE: GPS position measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3\_POS\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_GLITCH_RAD: EK3\_GLITCH\_RAD: GPS glitch radius gate size \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. If EK3\_GLITCH\_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches\. If setting EK3\_GLITCH\_RAD to 0 it is recommended to reduce EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE to 300\. +-----------+-----------+--------+ | Increment | Range | Units | +===========+===========+========+ | 5 | 10 to 100 | meters | +-----------+-----------+--------+ .. _EK3_ALT_M_NSE: EK3\_ALT\_M\_NSE: Altitude measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. A larger value for EK3\_ALT\_M\_NSE may be required when operating with EK3\_SRCx\_POSZ \= 0\. This parameter also sets the noise for the \'synthetic\' zero height measurement that is used when EK3\_SRCx\_POSZ \= 0\. +-----------+---------------+--------+ | Increment | Range | Units | +===========+===============+========+ | 0.1 | 0.01 to 100.0 | meters | +-----------+---------------+--------+ .. _EK3_HGT_I_GATE: EK3\_HGT\_I\_GATE: Height measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_HGT\_I\_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_HGT_DELAY: EK3\_HGT\_DELAY: Height measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the Height measurements lag behind the inertial measurements\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 250 | milliseconds | +-----------+----------+--------------+ .. _EK3_MAG_M_NSE: EK3\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+-------+ | Increment | Range | Units | +===========+=============+=======+ | 0.01 | 0.01 to 0.5 | gauss | +-----------+-------------+-------+ .. _EK3_MAG_CAL: EK3\_MAG\_CAL: Magnetometer default fusion mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK3\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK3\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK3\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK3\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK3\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. EK3\_MAG\_CAL \= 7 uses 3\-axis fusion on the ground and after the first in\-air field and yaw reset has completed\. This allows the magnetic field to be learned on the ground before takeoff \(useful when swapping batteries with different magnetic signatures\) while inhibiting learning during the initial climb when motor magnetic interference is strongest\. While disarmed and stationary the yaw is additionally anchored to the measured magnetic heading\, since a stationary vehicle gives the 3\-axis fusion no way to separate a yaw error from the body field states\. A body field component perpendicular to the horizontal earth field is not separable from yaw by a heading measurement\, so it appears as a heading offset rather than being learned\. NOTE \: Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 and setting COMPASS\_ENABLE to 0\. If this is done\, the EK3\_GSF\_RUN and EK3\_GSF\_USE masks must be set to the same as EK3\_IMU\_MASK\. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter \(GSF\) will then be used to align the yaw when flight commences and there is sufficient movement\. +-------+---------------------------------------------------------------------------------+ | Value | Meaning | +=======+=================================================================================+ | 0 | When flying | +-------+---------------------------------------------------------------------------------+ | 1 | When manoeuvring | +-------+---------------------------------------------------------------------------------+ | 2 | Never | +-------+---------------------------------------------------------------------------------+ | 3 | After first climb yaw reset | +-------+---------------------------------------------------------------------------------+ | 4 | Always | +-------+---------------------------------------------------------------------------------+ | 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) | +-------+---------------------------------------------------------------------------------+ | 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) | +-------+---------------------------------------------------------------------------------+ | 7 | On ground and after first climb yaw reset | +-------+---------------------------------------------------------------------------------+ .. _EK3_MAG_I_GATE: EK3\_MAG\_I\_GATE: Magnetometer measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_EAS_M_NSE: EK3\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.1 | 0.5 to 5.0 | meters per second | +-----------+------------+-------------------+ .. _EK3_EAS_I_GATE: EK3\_EAS\_I\_GATE: Airspeed measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_RNG_M_NSE: EK3\_RNG\_M\_NSE: Range finder measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK3_RNG_I_GATE: EK3\_RNG\_I\_GATE: Range finder measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_FLOW_MAX: EK3\_FLOW\_MAX: Optical flow rate maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum optical flow rate in rad\/sec that will be accepted by the filter\. Flow rates above this value will not be fused\. +-----------+------------+--------------------+ | Increment | Range | Units | +===========+============+====================+ | 0.1 | 1.0 to 4.0 | radians per second | +-----------+------------+--------------------+ .. _EK3_FLOW_M_NSE: EK3\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+--------------------+ | Increment | Range | Units | +===========+=============+====================+ | 0.05 | 0.05 to 1.0 | radians per second | +-----------+-------------+--------------------+ .. _EK3_FLOW_I_GATE: EK3\_FLOW\_I\_GATE: Optical Flow measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_FLOW_DELAY: EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 250 | milliseconds | +-----------+----------+--------------+ .. _EK3_GYRO_P_NSE: EK3\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. +-----------+---------------+--------------------+ | Increment | Range | Units | +===========+===============+====================+ | 0.0001 | 0.0001 to 0.1 | radians per second | +-----------+---------------+--------------------+ .. _EK3_ACC_P_NSE: EK3\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.01 | 0.01 to 1.0 | meters per square second | +-----------+-------------+--------------------------+ .. _EK3_GBIAS_P_NSE: EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. +------------------+---------------------------+ | Range | Units | +==================+===========================+ | 0.00001 to 0.001 | radians per square second | +------------------+---------------------------+ .. _EK3_ABIAS_P_NSE: EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. +-----------------+-------------------------+ | Range | Units | +=================+=========================+ | 0.00001 to 0.02 | meters per cubic second | +-----------------+-------------------------+ .. _EK3_WIND_P_NSE: EK3\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.1 | 0.01 to 2.0 | meters per square second | +-----------+-------------+--------------------------+ .. _EK3_WIND_PSCALE: EK3\_WIND\_PSCALE: Height rate to wind process noise scaler ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.0 to 2.0 | +-----------+------------+ .. _EK3_GPS_CHECK: EK3\_GPS\_CHECK: GPS preflight check ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. +-----+----------------+ | Bit | Meaning | +=====+================+ | 0 | NSats | +-----+----------------+ | 1 | HDoP | +-----+----------------+ | 2 | speed error | +-----+----------------+ | 3 | position error | +-----+----------------+ | 4 | yaw error | +-----+----------------+ | 5 | pos drift | +-----+----------------+ | 6 | vert speed | +-----+----------------+ | 7 | horiz speed | +-----+----------------+ .. _EK3_IMU_MASK: EK3\_IMU\_MASK: Bitmask of active IMUs ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of IMUs to use in EKF3\. A separate instance of EKF3 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF3 will fail to start\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | FirstIMU | +-----+-----------+ | 1 | SecondIMU | +-----+-----------+ | 2 | ThirdIMU | +-----+-----------+ | 3 | FourthIMU | +-----+-----------+ | 4 | FifthIMU | +-----+-----------+ | 5 | SixthIMU | +-----+-----------+ .. _EK3_CHECK_SCALE: EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. +-----------+---------+ | Range | Units | +===========+=========+ | 50 to 200 | percent | +-----------+---------+ .. _EK3_NOAID_M_NSE: EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. +-------------+--------+ | Range | Units | +=============+========+ | 0.5 to 50.0 | meters | +-------------+--------+ .. _EK3_BETA_MASK: EK3\_BETA\_MASK: Bitmask controlling sidelip angle fusion ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of \'fly forward\' vehicle types such as fixed wing planes\. By assuming that the angle of sideslip is small\, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning \(e\.g\. has an independent velocity or position sensor such as GPS\)\. This behaviour is on by default and cannot be disabled\. When the EKF is dead reckoning\, the wind states are used as a reference\, enabling use of the small angle of sideslip assumption to correct non wind velocity states \(eg attitude\, velocity\, position\, etc\) and improve navigation accuracy\. This behaviour is on by default and cannot be disabled\. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning\. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor \(e\.g\. magnetometer or dual antenna GPS yaw\) provided aerobatic flight maneuvers with large sideslip angles are not performed\. The \'always\' option might be used where the yaw sensor is intentionally not fitted or disabled\. The \'WhenNoYawSensor\' option might be used if a yaw sensor is fitted\, but protection against in\-flight failure and continual rejection by the EKF is desired\. For vehicles operated within visual range of the operator performing frequent turning maneuvers\, setting this parameter is unnecessary\. +-----+-----------------+ | Bit | Meaning | +=====+=================+ | 0 | Always | +-----+-----------------+ | 1 | WhenNoYawSensor | +-----+-----------------+ .. _EK3_YAW_M_NSE: EK3\_YAW\_M\_NSE: Yaw measurement noise \(rad\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 0.05 | 0.05 to 1.0 | radians | +-----------+-------------+---------+ .. _EK3_YAW_I_GATE: EK3\_YAW\_I\_GATE: Yaw measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_TAU_OUTPUT: EK3\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 5 | 10 to 50 | centiseconds | +-----------+----------+--------------+ .. _EK3_MAGE_P_NSE: EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. +-----------------+------------------+ | Range | Units | +=================+==================+ | 0.00001 to 0.01 | gauss per second | +-----------------+------------------+ .. _EK3_MAGB_P_NSE: EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. +-----------------+------------------+ | Range | Units | +=================+==================+ | 0.00001 to 0.01 | gauss per second | +-----------------+------------------+ .. _EK3_RNG_USE_HGT: EK3\_RNG\_USE\_HGT: Range finder switch height percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFNDx\_MAX\) and the primary height source is Baro or GPS \(see EK3\_SRCx\_POSZ\)\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | -1 to 70 | percent | +-----------+----------+---------+ .. _EK3_TERR_GRAD: EK3\_TERR\_GRAD: Maximum terrain gradient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference +-----------+----------+ | Increment | Range | +===========+==========+ | 0.01 | 0 to 0.2 | +-----------+----------+ .. _EK3_BCN_M_NSE: EK3\_BCN\_M\_NSE: Range beacon measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK3_BCN_I_GTE: EK3\_BCN\_I\_GTE: Range beacon measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_BCN_DELAY: EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the range beacon measurements lag behind the inertial measurements\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 250 | milliseconds | +-----------+----------+--------------+ .. _EK3_RNG_USE_SPD: EK3\_RNG\_USE\_SPD: Range finder max ground speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.5 | 2.0 to 6.0 | meters per second | +-----------+------------+-------------------+ .. _EK3_ACC_BIAS_LIM: EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The accelerometer bias state will be limited to \+\- this value +-----------+------------+--------------------------+ | Increment | Range | Units | +===========+============+==========================+ | 0.1 | 0.5 to 2.5 | meters per square second | +-----------+------------+--------------------------+ .. _EK3_MAG_MASK: EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | FirstEKF | +-----+-----------+ | 1 | SecondEKF | +-----+-----------+ | 2 | ThirdEKF | +-----+-----------+ | 3 | FourthEKF | +-----+-----------+ | 4 | FifthEKF | +-----+-----------+ | 5 | SixthEKF | +-----+-----------+ .. _EK3_OGN_HGT_MASK: EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. +-----+----------------------------------------+ | Bit | Meaning | +=====+========================================+ | 0 | Correct when using Baro height | +-----+----------------------------------------+ | 1 | Correct when using range finder height | +-----+----------------------------------------+ | 2 | Apply corrections to local position | +-----+----------------------------------------+ .. _EK3_VIS_VERR_MIN: EK3\_VIS\_VERR\_MIN: Visual odometry minimum velocity error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1\-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 0.5 | meters per second | +-----------+-------------+-------------------+ .. _EK3_VIS_VERR_MAX: EK3\_VIS\_VERR\_MAX: Visual odometry maximum velocity error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1\-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.1 | 0.5 to 5.0 | meters per second | +-----------+------------+-------------------+ .. _EK3_WENC_VERR: EK3\_WENC\_VERR: Wheel odometry velocity error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1\-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.1 | 0.01 to 1.0 | meters per second | +-----------+-------------+-------------------+ .. _EK3_FLOW_USE: EK3\_FLOW\_USE: Optical flow use bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | None | +-------+------------+ | 1 | Navigation | +-------+------------+ | 2 | Terrain | +-------+------------+ .. _EK3_HRT_FILT: EK3\_HRT\_FILT: Height rate filter crossover frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. +-------------+-------+ | Range | Units | +=============+=======+ | 0.1 to 30.0 | hertz | +-------------+-------+ .. _EK3_MAG_EF_LIM: EK3\_MAG\_EF\_LIM: EarthField error limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. +----------+------------+ | Range | Units | +==========+============+ | 0 to 500 | milligauss | +----------+------------+ .. _EK3_GSF_RUN_MASK: EK3\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of which EKF3 instances run an independent EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK3\_GSF\_USE\_MASK and EK3\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK3\_GSF\_USE to 0\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | FirstEKF | +-----+-----------+ | 1 | SecondEKF | +-----+-----------+ | 2 | ThirdEKF | +-----+-----------+ | 3 | FourthEKF | +-----+-----------+ | 4 | FifthEKF | +-----+-----------+ | 5 | SixthEKF | +-----+-----------+ .. _EK3_GSF_USE_MASK: EK3\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A bitmask of which EKF3 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK3\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF3 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance\. +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | FirstEKF | +-----+-----------+ | 1 | SecondEKF | +-----+-----------+ | 2 | ThirdEKF | +-----+-----------+ | 3 | FourthEKF | +-----+-----------+ | 4 | FifthEKF | +-----+-----------+ | 5 | SixthEKF | +-----+-----------+ .. _EK3_FLOW_GAIN_H: EK3\_FLOW\_GAIN\_H: Optical flow nav gain full\-scale height ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Height below which the navigation velocity gain is left at full scale while navigating on optical flow\. Above it the gain falls as this value divided by the height above ground\, to allow for flow velocity noise that grows with height\. Larger values keep position hold more responsive at height\, at more risk of a flow\-driven oscillation\. Values below 1 are treated as 1\. Takes effect immediately\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 1 | 1 to 40 | meters | +-----------+---------+--------+ .. _EK3_GSF_RST_MAX: EK3\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK3\_GSF\_USE\_MASK parameter\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 10 | +-----------+---------+ .. _EK3_ERR_THRESH: EK3\_ERR\_THRESH: EKF3 Lane Relative Error Sensitivity Threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError\, lowering this makes lane switching more sensitive to smaller error differences +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.05 | 0.05 to 1 | +-----------+-----------+ .. _EK3_AFFINITY: EK3\_AFFINITY: EKF3 Sensor Affinity Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* These options control the affinity between sensor instances and EKF cores +-----+------------------------+ | Bit | Meaning | +=====+========================+ | 0 | EnableGPSAffinity | +-----+------------------------+ | 1 | EnableBaroAffinity | +-----+------------------------+ | 2 | EnableCompassAffinity | +-----+------------------------+ | 3 | EnableAirspeedAffinity | +-----+------------------------+ .. _EK3_DRAG_BCOEF_X: EK3\_DRAG\_BCOEF\_X: Ballistic coefficient for X axis drag ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Ratio of mass to drag coefficient measured along the X body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a positive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the frontal area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. +---------------+----------------------------+ | Range | Units | +===============+============================+ | 0.0 to 1000.0 | kilograms per square meter | +---------------+----------------------------+ .. _EK3_DRAG_BCOEF_Y: EK3\_DRAG\_BCOEF\_Y: Ballistic coefficient for Y axis drag ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Ratio of mass to drag coefficient measured along the Y body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a positive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the side area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. +----------------+----------------------------+ | Range | Units | +================+============================+ | 50.0 to 1000.0 | kilograms per square meter | +----------------+----------------------------+ .. _EK3_DRAG_M_NSE: EK3\_DRAG\_M\_NSE: Observation noise for drag acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the amount of noise used when fusing X and Y acceleration as an observation that enables estimation of wind velocity for multi\-rotor vehicles\. This feature is enabled by the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters +-----------+------------+--------------------------+ | Increment | Range | Units | +===========+============+==========================+ | 0.1 | 0.1 to 2.0 | meters per square second | +-----------+------------+--------------------------+ .. _EK3_DRAG_MCOEF: EK3\_DRAG\_MCOEF: Momentum coefficient for propeller drag ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter is used to predict the drag produced by the rotors when flying a multi\-copter\, enabling estimation of wind drift\. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag\. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers\. It is higher for ducted rotors\. For example if flying at 15 m\/s at sea level conditions produces a rotor induced drag acceleration of 1\.5 m\/s\/s\, then EK3\_DRAG\_MCOEF would be set to 0\.1 \= \(1\.5\/15\.0\)\. Set EK3\_MCOEF to a positive value to enable wind estimation using this drag effect\. To account for the drag produced by the body which scales with speed squared\, see documentation for the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters\. +-----------+------------+------------+ | Increment | Range | Units | +===========+============+============+ | 0.01 | 0.0 to 1.0 | per second | +-----------+------------+------------+ .. _EK3_OGNM_TEST_SF: EK3\_OGNM\_TEST\_SF: On ground not moving test scale factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor\. Bigger values allow the detection of a not moving condition with noiser IMU data\. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM\_TEST\_SF to be slightly higher than the maximum value of the XKFM\.ADR\, XKFM\.ALR\, XKFM\.GDR and XKFM\.GLR test levels\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.5 | 1.0 to 10.0 | +-----------+-------------+ .. _EK3_GND_EFF_DZ: EK3\_GND\_EFF\_DZ: Baro height ground effect dead zone ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect\. Set to about 0\.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up\. Set to 0 if no ground effect is present\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.5 | 0.0 to 10.0 | +-----------+-------------+ .. _EK3_PRIMARY: EK3\_PRIMARY: Primary core number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\. +-----------+--------+ | Increment | Range | +===========+========+ | 1 | 0 to 2 | +-----------+--------+ .. _EK3_LOG_LEVEL: EK3\_LOG\_LEVEL: Logging Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Determines how verbose the EKF3 streaming logging is\. A value of 0 provides full logging\(default\)\, a value of 1 only XKF4 scaled innovations are logged\, a value of 2 both XKF4 and GSF are logged\, and a value of 3 disables all streaming logging of EKF3\. +-----------+--------+ | Increment | Range | +===========+========+ | 1 | 0 to 3 | +-----------+--------+ .. _EK3_GPS_VACC_MAX: EK3\_GPS\_VACC\_MAX: GPS vertical accuracy threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Vertical accuracy threshold for GPS as the altitude source\. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold\, falling back to baro instead\. Set to zero to deactivate the threshold check\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.0 to 10.0 | meters | +-----------+-------------+--------+ .. _EK3_OPTIONS: EK3\_OPTIONS: Optional EKF behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* EKF optional behaviour\. Bit 0 \(JammingExpected\)\: Setting JammingExpected will change the EKF behaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3\_GPS\_CHECK and EK3\_CHECK\_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad position estimate\. Bit 1 \(Manual lane switching\)\: DANGEROUS \– If enabled\, this disables automatic lane switching\. If the active lane becomes unhealthy\, no automatic switching will occur\. Users must manually set EK3\_PRIMARY to change lanes\. No health checks will be performed on the selected lane\. Use with extreme caution\. Bit 2 \(Optflow may use terrain alt\)\: Terrain SRTM data will be used if the vehicle climbs above the rangefinder\'s range allowing optical flow to be used at higher altitudes\. Bit 3 \(AGL KF for optflow scaling\)\: Use a 2\-state IMU\-aided AGL Kalman filter \(height \+ vertical velocity\, fused with rangefinder\) to compute the height\-above\-ground used for optical flow velocity scaling\, instead of terrainState\-pd\. This decouples optical flow scaling from errors in the main filter\'s vertical position state\. +-----+-----------------------------+ | Bit | Meaning | +=====+=============================+ | 0 | JammingExpected | +-----+-----------------------------+ | 1 | ManualLaneSwitching | +-----+-----------------------------+ | 2 | Optflow may use terrain alt | +-----+-----------------------------+ | 3 | AGL KF for optflow scaling | +-----+-----------------------------+ .. _parameters_EK3_SRC: EK3\_SRC Parameters ------------------- .. _EK3_SRC1_POSXY: EK3\_SRC1\_POSXY: Position Horizontal Source \(Primary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Horizontal Source \(Primary\) +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 3 | GPS | +-------+-------------+ | 4 | Beacon | +-------+-------------+ | 6 | ExternalNav | +-------+-------------+ .. _EK3_SRC1_VELXY: EK3\_SRC1\_VELXY: Velocity Horizontal Source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Horizontal Source +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 3 | GPS | +-------+--------------+ | 4 | Beacon | +-------+--------------+ | 5 | OpticalFlow | +-------+--------------+ | 6 | ExternalNav | +-------+--------------+ | 7 | WheelEncoder | +-------+--------------+ .. _EK3_SRC1_POSZ: EK3\_SRC1\_POSZ: Position Vertical Source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Vertical Source +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 1 | Baro | +-------+-------------+ | 2 | RangeFinder | +-------+-------------+ | 3 | GPS | +-------+-------------+ | 4 | Beacon | +-------+-------------+ | 6 | ExternalNav | +-------+-------------+ .. _EK3_SRC1_VELZ: EK3\_SRC1\_VELZ: Velocity Vertical Source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Vertical Source +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 3 | GPS | +-------+-------------+ | 4 | Beacon | +-------+-------------+ | 6 | ExternalNav | +-------+-------------+ .. _EK3_SRC1_YAW: EK3\_SRC1\_YAW: Yaw Source ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Source +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | Compass | +-------+---------------------------+ | 2 | GPS | +-------+---------------------------+ | 3 | GPS with Compass Fallback | +-------+---------------------------+ | 6 | ExternalNav | +-------+---------------------------+ | 8 | GSF | +-------+---------------------------+ .. _EK3_SRC2_POSXY: EK3\_SRC2\_POSXY: Position Horizontal Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Horizontal Source \(Secondary\) +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 3 | GPS | +-------+-------------+ | 4 | Beacon | +-------+-------------+ | 6 | ExternalNav | +-------+-------------+ .. _EK3_SRC2_VELXY: EK3\_SRC2\_VELXY: Velocity Horizontal Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Horizontal Source \(Secondary\) +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 3 | GPS | +-------+--------------+ | 4 | Beacon | +-------+--------------+ | 5 | OpticalFlow | +-------+--------------+ | 6 | ExternalNav | +-------+--------------+ | 7 | WheelEncoder | +-------+--------------+ .. _EK3_SRC2_POSZ: EK3\_SRC2\_POSZ: Position Vertical Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Vertical Source \(Secondary\) +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 1 | Baro | +-------+-------------+ | 2 | RangeFinder | +-------+-------------+ | 3 | GPS | +-------+-------------+ | 4 | Beacon | +-------+-------------+ | 6 | ExternalNav | +-------+-------------+ .. _EK3_SRC2_VELZ: EK3\_SRC2\_VELZ: Velocity Vertical Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Vertical Source \(Secondary\) +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 3 | GPS | +-------+-------------+ | 4 | Beacon | +-------+-------------+ | 6 | ExternalNav | +-------+-------------+ .. _EK3_SRC2_YAW: EK3\_SRC2\_YAW: Yaw Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Source \(Secondary\) +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | Compass | +-------+---------------------------+ | 2 | GPS | +-------+---------------------------+ | 3 | GPS with Compass Fallback | +-------+---------------------------+ | 6 | ExternalNav | +-------+---------------------------+ | 8 | GSF | +-------+---------------------------+ .. _EK3_SRC3_POSXY: EK3\_SRC3\_POSXY: Position Horizontal Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Horizontal Source \(Tertiary\) +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 3 | GPS | +-------+-------------+ | 4 | Beacon | +-------+-------------+ | 6 | ExternalNav | +-------+-------------+ .. _EK3_SRC3_VELXY: EK3\_SRC3\_VELXY: Velocity Horizontal Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Horizontal Source \(Tertiary\) +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 3 | GPS | +-------+--------------+ | 4 | Beacon | +-------+--------------+ | 5 | OpticalFlow | +-------+--------------+ | 6 | ExternalNav | +-------+--------------+ | 7 | WheelEncoder | +-------+--------------+ .. _EK3_SRC3_POSZ: EK3\_SRC3\_POSZ: Position Vertical Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Vertical Source \(Tertiary\) +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 1 | Baro | +-------+-------------+ | 2 | RangeFinder | +-------+-------------+ | 3 | GPS | +-------+-------------+ | 4 | Beacon | +-------+-------------+ | 6 | ExternalNav | +-------+-------------+ .. _EK3_SRC3_VELZ: EK3\_SRC3\_VELZ: Velocity Vertical Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Vertical Source \(Tertiary\) +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 3 | GPS | +-------+-------------+ | 4 | Beacon | +-------+-------------+ | 6 | ExternalNav | +-------+-------------+ .. _EK3_SRC3_YAW: EK3\_SRC3\_YAW: Yaw Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Source \(Tertiary\) +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | Compass | +-------+---------------------------+ | 2 | GPS | +-------+---------------------------+ | 3 | GPS with Compass Fallback | +-------+---------------------------+ | 6 | ExternalNav | +-------+---------------------------+ | 8 | GSF | +-------+---------------------------+ .. _EK3_SRC_OPTIONS: EK3\_SRC\_OPTIONS: EKF Source Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* EKF Source Options\. Bit 0\: Fuse all velocity sources present in EK3\_SRCx\_VEL\_\. Bit 1\: Align external navigation position when using optical flow\. Bit 3\: Use SRC per core\. By default\, EKF source selection is controlled via the EK3\_SRC parameters\, allowing only one source to be active at a time across all cores \(switchable via MAVLink\, Lua\, or RC\)\. Enabling this bit maps EKF core 1 to SRC1\, core 2 to SRC2\, etc\.\, allowing each core to run independently with a dedicated source\. +-----+--------------------------------+ | Bit | Meaning | +=====+================================+ | 0 | FuseAllVelocities | +-----+--------------------------------+ | 1 | AlignExtNavPosWhenUsingOptFlow | +-----+--------------------------------+ | 3 | UsePerCoreEKFSources | +-----+--------------------------------+ .. _parameters_ESC_TLM: ESC\_TLM Parameters ------------------- .. _ESC_TLM_MAV_OFS: ESC\_TLM\_MAV\_OFS: ESC Telemetry mavlink offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset to apply to ESC numbers when reporting as ESC\_TELEMETRY packets over MAVLink\. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays\. A value of 4 would send ESC on output 5 as ESC number 1 in ESC\_TELEMETRY packets +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 31 | +-----------+---------+ .. _parameters_FENCE_: FENCE\_ Parameters ------------------ .. _FENCE_ENABLE: FENCE\_ENABLE: Fence enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Allows you to enable \(1\) or disable \(0\) the fence functionality\. Fences can still be enabled and disabled via mavlink or an RC option\, but these changes are not persisted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _FENCE_TYPE: FENCE\_TYPE: Fence Type ~~~~~~~~~~~~~~~~~~~~~~~ Configured fence types held as bitmask\. Max altitude\, Circle and Polygon fences will be immediately enabled if configured\. Min altitude fence will only be enabled once the minimum altitude is reached\. +-----+--------------------------------------+ | Bit | Meaning | +=====+======================================+ | 1 | Circle Centered on Home | +-----+--------------------------------------+ | 2 | Inclusion/Exclusion Circles+Polygons | +-----+--------------------------------------+ .. _FENCE_ACTION: FENCE\_ACTION: Fence Action ~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action should be taken when fence is breached +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Report Only | +-------+-------------------------+ | 1 | RTL or Hold | +-------+-------------------------+ | 2 | Hold | +-------+-------------------------+ | 3 | SmartRTL or RTL or Hold | +-------+-------------------------+ | 4 | SmartRTL or Hold | +-------+-------------------------+ | 5 | Terminate | +-------+-------------------------+ | 6 | Loiter or Hold | +-------+-------------------------+ .. _FENCE_RADIUS: FENCE\_RADIUS: Circular Fence Radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Circle fence radius which when breached will cause an RTL +-------------+--------+ | Range | Units | +=============+========+ | 30 to 10000 | meters | +-------------+--------+ .. _FENCE_MARGIN: FENCE\_MARGIN: Fence Margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance that autopilot\'s should maintain from the fence to avoid a breach +---------+--------+ | Range | Units | +=========+========+ | 1 to 10 | meters | +---------+--------+ .. _FENCE_TOTAL: FENCE\_TOTAL: Fence polygon point total ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of polygon points saved in eeprom \(do not update manually\) +---------+ | Range | +=========+ | 1 to 20 | +---------+ .. _FENCE_OPTIONS: FENCE\_OPTIONS: Fence options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When bit 0 is set disable mode change following fence action until fence breach is cleared\. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection\, which means a fence breach occurs only if you are outside all of the fence areas\. +-----+--------------------------------------------------------------------------+ | Bit | Meaning | +=====+==========================================================================+ | 0 | Disable mode change following fence action until fence breach is cleared | +-----+--------------------------------------------------------------------------+ | 1 | Allow union of inclusion areas | +-----+--------------------------------------------------------------------------+ | 2 | Notify on margin breaches | +-----+--------------------------------------------------------------------------+ .. _FENCE_NTF_FREQ: FENCE\_NTF\_FREQ: Fence margin notification frequency in hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When bit 2 of FENCE\_OPTIONS is set this parameter controls the frequency of margin breach notifications\. If set to 0 only new margin breaches are notified\. +---------+-------+ | Range | Units | +=========+=======+ | 0 to 10 | hertz | +---------+-------+ .. _FENCE_MARGIN_XY: FENCE\_MARGIN\_XY: Fence Horizontal Margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance that autopilot\'s should maintain from the fence in the horizontal plane to avoid a breach\. If set to 0 then FENCE\_MARGIN is used\. +---------+--------+ | Range | Units | +=========+========+ | 0 to 50 | meters | +---------+--------+ .. _FENCE_ALT_MAX_TP: FENCE\_ALT\_MAX\_TP: Altitude max frame type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The altitude reference frame for the maximum altitude fence\. Can be AMSL\, home\-relative\, origin relative or AGL\. +-------+-----------------+ | Value | Meaning | +=======+=================+ | 0 | Above sea level | +-------+-----------------+ | 1 | Above Home | +-------+-----------------+ | 2 | Above Origin | +-------+-----------------+ | 3 | Above Terrain | +-------+-----------------+ .. _FENCE_ALT_MIN_TP: FENCE\_ALT\_MIN\_TP: Altitude min frame type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The altitude reference frame for the minimum altitude fence\. Can be AMSL\, home\-relative\, origin relative or AGL\. +-------+-----------------+ | Value | Meaning | +=======+=================+ | 0 | Above sea level | +-------+-----------------+ | 1 | Above Home | +-------+-----------------+ | 2 | Above Origin | +-------+-----------------+ | 3 | Above Terrain | +-------+-----------------+ .. _parameters_FFT_: FFT\_ Parameters ---------------- .. _FFT_ENABLE: FFT\_ENABLE: Enable ~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Gyro FFT analyser +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _FFT_MINHZ: FFT\_MINHZ: Minimum Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Lower bound of FFT frequency detection in Hz\. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles\. +-----------+-------+ | Range | Units | +===========+=======+ | 20 to 400 | hertz | +-----------+-------+ .. _FFT_MAXHZ: FFT\_MAXHZ: Maximum Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Upper bound of FFT frequency detection in Hz\. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles\. +-----------+-------+ | Range | Units | +===========+=======+ | 20 to 495 | hertz | +-----------+-------+ .. _FFT_SAMPLE_MODE: FFT\_SAMPLE\_MODE: Sample Mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Sampling mode \(and therefore rate\)\. 0\: Gyro rate sampling\, 1\: Fast loop rate sampling\, 2\: Fast loop rate \/ 2 sampling\, 3\: Fast loop rate \/ 3 sampling\. Takes effect on reboot\. +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _FFT_WINDOW_SIZE: FFT\_WINDOW\_SIZE: FFT window size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Size of window to be used in FFT calculations\. Takes effect on reboot\. Must be a power of 2 and between 32 and 512\. Larger windows give greater frequency resolution but poorer time resolution\, consume more CPU time and may not be appropriate for all vehicles\. Time and frequency resolution are given by the sample\-rate \/ window\-size\. Windows of 256 are only really recommended for F7 class boards\, windows of 512 or more H7 class\. +------------+ | Range | +============+ | 32 to 1024 | +------------+ .. _FFT_WINDOW_OLAP: FFT\_WINDOW\_OLAP: FFT window overlap ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Percentage of window to be overlapped before another frame is process\. Takes effect on reboot\. A good default is 50\% overlap\. Higher overlap results in more processed frames but not necessarily more temporal resolution\. Lower overlap results in lost information at the frame edges\. +----------+ | Range | +==========+ | 0 to 0.9 | +----------+ .. _FFT_FREQ_HOVER: FFT\_FREQ\_HOVER: FFT learned hover frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The learned hover noise frequency +----------+ | Range | +==========+ | 0 to 250 | +----------+ .. _FFT_THR_REF: FFT\_THR\_REF: FFT learned thrust reference ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FFT learned thrust reference for the hover frequency and FFT minimum frequency\. +-------------+ | Range | +=============+ | 0.01 to 0.9 | +-------------+ .. _FFT_SNR_REF: FFT\_SNR\_REF: FFT SNR reference threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FFT SNR reference threshold in dB at which a signal is determined to be present\. +--------------+ | Range | +==============+ | 0.0 to 100.0 | +--------------+ .. _FFT_ATT_REF: FFT\_ATT\_REF: FFT attenuation for bandwidth calculation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FFT attenuation level in dB for bandwidth calculation and peak detection\. The bandwidth is calculated by comparing peak power output with the attenuated version\. The default of 15 has shown to be a good compromise in both simulations and real flight\. +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _FFT_BW_HOVER: FFT\_BW\_HOVER: FFT learned bandwidth at hover ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FFT learned bandwidth at hover for the attenuation frequencies\. +----------+ | Range | +==========+ | 0 to 200 | +----------+ .. _FFT_HMNC_FIT: FFT\_HMNC\_FIT: FFT harmonic fit frequency threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another\. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency\. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch\. A value of zero completely disables harmonic matching\. +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _FFT_HMNC_PEAK: FFT\_HMNC\_PEAK: FFT harmonic peak target ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The FFT harmonic peak target that should be returned by FTN1\.PkAvg\. The resulting value will be used by the harmonic notch if configured to track the FFT frequency\. By default the appropriate peak is auto\-detected based on the harmonic fit between peaks and the energy\-weighted average frequency on roll on pitch is used\. Setting this to 1 will always target the highest energy peak\. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak\. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak\. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | 0 | Auto | +-------+--------------------------+ | 1 | Center Frequency | +-------+--------------------------+ | 2 | Lower-Shoulder Frequency | +-------+--------------------------+ | 3 | Upper-Shoulder Frequency | +-------+--------------------------+ | 4 | Roll-Axis | +-------+--------------------------+ | 5 | Pitch-Axis | +-------+--------------------------+ .. _FFT_NUM_FRAMES: FFT\_NUM\_FRAMES: FFT output frames to retain and average ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Number of output frequency frames to retain and average in order to calculate final frequencies\. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable\. The default is to perform no averaging\. For rapidly changing frequencies \(e\.g\. smaller aircraft\) fewer frames should be averaged\. +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _FFT_OPTIONS: FFT\_OPTIONS: FFT options ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* FFT configuration options\. Values\: 1\:Apply the FFT \*after\* the filter bank\,2\:Check noise at the motor frequencies using ESC data as a reference +-----+------------------------+ | Bit | Meaning | +=====+========================+ | 0 | Enable post-filter FFT | +-----+------------------------+ | 1 | Check motor noise | +-----+------------------------+ .. _parameters_FILT1_: FILT1\_ Parameters ------------------ .. _FILT1_TYPE: FILT1\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disable | +-------+--------------+ | 1 | Notch Filter | +-------+--------------+ .. _FILT1_NOTCH_FREQ: FILT1\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT1_NOTCH_Q: FILT1\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT1_NOTCH_ATT: FILT1\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT2_: FILT2\_ Parameters ------------------ .. _FILT2_TYPE: FILT2\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disable | +-------+--------------+ | 1 | Notch Filter | +-------+--------------+ .. _FILT2_NOTCH_FREQ: FILT2\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT2_NOTCH_Q: FILT2\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT2_NOTCH_ATT: FILT2\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT3_: FILT3\_ Parameters ------------------ .. _FILT3_TYPE: FILT3\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disable | +-------+--------------+ | 1 | Notch Filter | +-------+--------------+ .. _FILT3_NOTCH_FREQ: FILT3\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT3_NOTCH_Q: FILT3\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT3_NOTCH_ATT: FILT3\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT4_: FILT4\_ Parameters ------------------ .. _FILT4_TYPE: FILT4\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disable | +-------+--------------+ | 1 | Notch Filter | +-------+--------------+ .. _FILT4_NOTCH_FREQ: FILT4\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT4_NOTCH_Q: FILT4\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT4_NOTCH_ATT: FILT4\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT5_: FILT5\_ Parameters ------------------ .. _FILT5_TYPE: FILT5\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disable | +-------+--------------+ | 1 | Notch Filter | +-------+--------------+ .. _FILT5_NOTCH_FREQ: FILT5\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT5_NOTCH_Q: FILT5\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT5_NOTCH_ATT: FILT5\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT6_: FILT6\_ Parameters ------------------ .. _FILT6_TYPE: FILT6\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disable | +-------+--------------+ | 1 | Notch Filter | +-------+--------------+ .. _FILT6_NOTCH_FREQ: FILT6\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT6_NOTCH_Q: FILT6\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT6_NOTCH_ATT: FILT6\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT7_: FILT7\_ Parameters ------------------ .. _FILT7_TYPE: FILT7\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disable | +-------+--------------+ | 1 | Notch Filter | +-------+--------------+ .. _FILT7_NOTCH_FREQ: FILT7\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT7_NOTCH_Q: FILT7\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT7_NOTCH_ATT: FILT7\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT8_: FILT8\_ Parameters ------------------ .. _FILT8_TYPE: FILT8\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disable | +-------+--------------+ | 1 | Notch Filter | +-------+--------------+ .. _FILT8_NOTCH_FREQ: FILT8\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT8_NOTCH_Q: FILT8\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT8_NOTCH_ATT: FILT8\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FLOW: FLOW Parameters --------------- .. _FLOW_TYPE: FLOW\_TYPE: Optical flow sensor type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Optical flow sensor type +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | None | +-------+----------+ | 1 | PX4Flow | +-------+----------+ | 2 | Pixart | +-------+----------+ | 3 | Bebop | +-------+----------+ | 4 | CXOF | +-------+----------+ | 5 | MAVLink | +-------+----------+ | 6 | DroneCAN | +-------+----------+ | 7 | MSP | +-------+----------+ | 8 | UPFLOW | +-------+----------+ | 10 | SITL | +-------+----------+ .. _FLOW_FXSCALER: FLOW\_FXSCALER: X axis optical flow scale factor correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 1 | -800 to +800 | +-----------+--------------+ .. _FLOW_FYSCALER: FLOW\_FYSCALER: Y axis optical flow scale factor correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 1 | -800 to +800 | +-----------+--------------+ .. _FLOW_ORIENT_YAW: FLOW\_ORIENT\_YAW: Flow sensor yaw alignment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Specifies the number of centi\-degrees that the flow sensor is yawed relative to the vehicle\. A sensor with its X\-axis pointing to the right of the vehicle X axis has a positive yaw angle\. +-----------+------------------+--------------+ | Increment | Range | Units | +===========+==================+==============+ | 10 | -17999 to +18000 | centidegrees | +-----------+------------------+--------------+ .. _FLOW_POS_X: FLOW\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the optical flow sensor focal point in body frame\. Positive X is forward of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _FLOW_POS_Y: FLOW\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the optical flow sensor focal point in body frame\. Positive Y is to the right of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _FLOW_POS_Z: FLOW\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the optical flow sensor focal point in body frame\. Positive Z is down from the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _FLOW_ADDR: FLOW\_ADDR: Address on the bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is used to select between multiple possible I2C addresses for some sensor types\. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus\. +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _FLOW_HGT_OVR: FLOW\_HGT\_OVR: Height override of sensor above ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is used in rover vehicles\, where the sensor is a fixed height above the ground +-----------+--------+--------+ | Increment | Range | Units | +===========+========+========+ | 0.01 | 0 to 2 | meters | +-----------+--------+--------+ .. _FLOW_OPTIONS: FLOW\_OPTIONS: Optical flow options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Optical flow options\. Bit 0 should be set if the sensor is stabilised \(e\.g\. mounted on a gimbal\) +-----+-----------------------+ | Bit | Meaning | +=====+=======================+ | 0 | Roll/Pitch stabilised | +-----+-----------------------+ .. _parameters_FOLL: FOLL Parameters --------------- .. _FOLL_ENABLE: FOLL\_ENABLE: Follow enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enabled\/disable following a target +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _FOLL_SYSID: FOLL\_SYSID: Follow target\'s mavlink system id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow target\'s mavlink system id\. Zero means no target has been selected and following is inactive\. +-----------------+ | Range | +=================+ | 0 to 4294967295 | +-----------------+ .. _FOLL_DIST_MAX: FOLL\_DIST\_MAX: Follow distance maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow distance maximum\. If exceeded\, the follow estimate will be considered invalid\. If zero there is no maximum\. +-----------+--------+ | Range | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _FOLL_OFS_TYPE: FOLL\_OFS\_TYPE: Follow offset type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow offset type +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | 0 | North-East-Down | +-------+----------------------------------+ | 1 | Relative to lead vehicle heading | +-------+----------------------------------+ .. _FOLL_OFS_X: FOLL\_OFS\_X: Follow offsets in meters north\/forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow offsets in meters north\/forward\. If positive\, this vehicle fly ahead or north of lead vehicle\. Depends on FOLL\_OFS\_TYPE +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 1 | -100 to 100 | meters | +-----------+-------------+--------+ .. _FOLL_OFS_Y: FOLL\_OFS\_Y: Follow offsets in meters east\/right ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow offsets in meters east\/right\. If positive\, this vehicle will fly to the right or east of lead vehicle\. Depends on FOLL\_OFS\_TYPE +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 1 | -100 to 100 | meters | +-----------+-------------+--------+ .. _FOLL_OFS_Z: FOLL\_OFS\_Z: Follow offsets in meters down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow offsets in meters down\. If positive\, this vehicle will fly below the lead vehicle +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 1 | -100 to 100 | meters | +-----------+-------------+--------+ .. _FOLL_YAW_BEHAVE: FOLL\_YAW\_BEHAVE: Follow yaw behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow yaw behaviour +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | None | +-------+----------------------+ | 1 | Face Lead Vehicle | +-------+----------------------+ | 2 | Same as Lead vehicle | +-------+----------------------+ | 3 | Direction of Flight | +-------+----------------------+ .. _FOLL_POS_P: FOLL\_POS\_P: Follow position error P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow position error P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.01 | 0.01 to 1.00 | +-----------+--------------+ .. _FOLL_ALT_TYPE: FOLL\_ALT\_TYPE: Follow altitude type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow altitude type +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | absolute | +-------+----------+ | 1 | relative | +-------+----------+ | 3 | terrain | +-------+----------+ .. _FOLL_OPTIONS: FOLL\_OPTIONS: Follow options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow options bitmask +-----+------------------------------------------+ | Bit | Meaning | +=====+==========================================+ | 0 | Mount follows lead vehicle on mode enter | +-----+------------------------------------------+ .. _FOLL_ACCEL_NE: FOLL\_ACCEL\_NE: Acceleration limit for the horizontal kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Acceleration limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in velocity +---------+--------------------------+ | Range | Units | +=========+==========================+ | 0 to 10 | meters per square second | +---------+--------------------------+ .. _FOLL_JERK_NE: FOLL\_JERK\_NE: Jerk limit for the horizontal kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Jerk limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in acceleration +---------+-------------------------+ | Range | Units | +=========+=========================+ | 0 to 20 | meters per cubic second | +---------+-------------------------+ .. _FOLL_ACCEL_D: FOLL\_ACCEL\_D: Acceleration limit for the vertical kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Acceleration limit of the vertical kinematic path generation used to determine how quickly the estimate varies in velocity +---------+--------------------------+ | Range | Units | +=========+==========================+ | 0 to 10 | meters per square second | +---------+--------------------------+ .. _FOLL_JERK_D: FOLL\_JERK\_D: Jerk limit for the vertical kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Jerk limit of the vertical kinematic path generation used to determine how quickly the estimate varies in acceleration +---------+-------------------------+ | Range | Units | +=========+=========================+ | 0 to 20 | meters per cubic second | +---------+-------------------------+ .. _FOLL_ACCEL_H: FOLL\_ACCEL\_H: Angular acceleration limit for the heading kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Angular acceleration limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular velocity +----------+---------------------------+ | Range | Units | +==========+===========================+ | 0 to 720 | degrees per square second | +----------+---------------------------+ .. _FOLL_JERK_H: FOLL\_JERK\_H: Angular jerk limit for the heading kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Angular jerk limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular acceleration +-----------+-------------------------+ | Range | Units | +===========+=========================+ | 0 to 1440 | degrees per cube second | +-----------+-------------------------+ .. _FOLL_TIMEOUT: FOLL\_TIMEOUT: Follow timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow position update from lead \- timeout after x seconds +---------+ | Units | +=========+ | seconds | +---------+ .. _parameters_FRSKY_: FRSKY\_ Parameters ------------------ .. _FRSKY_UPLINK_ID: FRSKY\_UPLINK\_ID: Uplink sensor id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Change the uplink sensor id \(SPort only\) +-------+---------+ | Value | Meaning | +=======+=========+ | -1 | Disable | +-------+---------+ | 7 | 7 | +-------+---------+ | 8 | 8 | +-------+---------+ | 9 | 9 | +-------+---------+ | 10 | 10 | +-------+---------+ | 11 | 11 | +-------+---------+ | 12 | 12 | +-------+---------+ | 13 | 13 | +-------+---------+ | 14 | 14 | +-------+---------+ | 15 | 15 | +-------+---------+ | 16 | 16 | +-------+---------+ | 17 | 17 | +-------+---------+ | 18 | 18 | +-------+---------+ | 19 | 19 | +-------+---------+ | 20 | 20 | +-------+---------+ | 21 | 21 | +-------+---------+ | 22 | 22 | +-------+---------+ | 23 | 23 | +-------+---------+ | 24 | 24 | +-------+---------+ | 25 | 25 | +-------+---------+ | 26 | 26 | +-------+---------+ .. _FRSKY_DNLINK1_ID: FRSKY\_DNLINK1\_ID: First downlink sensor id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Change the first extra downlink sensor id \(SPort only\) +-------+---------+ | Value | Meaning | +=======+=========+ | -1 | Disable | +-------+---------+ | 7 | 7 | +-------+---------+ | 8 | 8 | +-------+---------+ | 9 | 9 | +-------+---------+ | 10 | 10 | +-------+---------+ | 11 | 11 | +-------+---------+ | 12 | 12 | +-------+---------+ | 13 | 13 | +-------+---------+ | 14 | 14 | +-------+---------+ | 15 | 15 | +-------+---------+ | 16 | 16 | +-------+---------+ | 17 | 17 | +-------+---------+ | 18 | 18 | +-------+---------+ | 19 | 19 | +-------+---------+ | 20 | 20 | +-------+---------+ | 21 | 21 | +-------+---------+ | 22 | 22 | +-------+---------+ | 23 | 23 | +-------+---------+ | 24 | 24 | +-------+---------+ | 25 | 25 | +-------+---------+ | 26 | 26 | +-------+---------+ .. _FRSKY_DNLINK2_ID: FRSKY\_DNLINK2\_ID: Second downlink sensor id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Change the second extra downlink sensor id \(SPort only\) +-------+---------+ | Value | Meaning | +=======+=========+ | -1 | Disable | +-------+---------+ | 7 | 7 | +-------+---------+ | 8 | 8 | +-------+---------+ | 9 | 9 | +-------+---------+ | 10 | 10 | +-------+---------+ | 11 | 11 | +-------+---------+ | 12 | 12 | +-------+---------+ | 13 | 13 | +-------+---------+ | 14 | 14 | +-------+---------+ | 15 | 15 | +-------+---------+ | 16 | 16 | +-------+---------+ | 17 | 17 | +-------+---------+ | 18 | 18 | +-------+---------+ | 19 | 19 | +-------+---------+ | 20 | 20 | +-------+---------+ | 21 | 21 | +-------+---------+ | 22 | 22 | +-------+---------+ | 23 | 23 | +-------+---------+ | 24 | 24 | +-------+---------+ | 25 | 25 | +-------+---------+ | 26 | 26 | +-------+---------+ .. _FRSKY_DNLINK_ID: FRSKY\_DNLINK\_ID: Default downlink sensor id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Change the default downlink sensor id \(SPort only\) +-------+---------+ | Value | Meaning | +=======+=========+ | -1 | Disable | +-------+---------+ | 7 | 7 | +-------+---------+ | 8 | 8 | +-------+---------+ | 9 | 9 | +-------+---------+ | 10 | 10 | +-------+---------+ | 11 | 11 | +-------+---------+ | 12 | 12 | +-------+---------+ | 13 | 13 | +-------+---------+ | 14 | 14 | +-------+---------+ | 15 | 15 | +-------+---------+ | 16 | 16 | +-------+---------+ | 17 | 17 | +-------+---------+ | 18 | 18 | +-------+---------+ | 19 | 19 | +-------+---------+ | 20 | 20 | +-------+---------+ | 21 | 21 | +-------+---------+ | 22 | 22 | +-------+---------+ | 23 | 23 | +-------+---------+ | 24 | 24 | +-------+---------+ | 25 | 25 | +-------+---------+ | 26 | 26 | +-------+---------+ | 27 | 27 | +-------+---------+ .. _FRSKY_OPTIONS: FRSKY\_OPTIONS: FRSky Telemetry Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ A bitmask to set some FRSky Telemetry specific options +-----+------------------------------+ | Bit | Meaning | +=====+==============================+ | 0 | EnableAirspeedAndGroundspeed | +-----+------------------------------+ .. _parameters_GEN_: GEN\_ Parameters ---------------- .. _GEN_TYPE: GEN\_TYPE: Generator type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Generator type +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | Disabled | +-------+------------------------+ | 1 | IE 650w 800w Fuel Cell | +-------+------------------------+ | 2 | IE 2.4kW Fuel Cell | +-------+------------------------+ | 3 | Richenpower | +-------+------------------------+ | 4 | Loweheiser | +-------+------------------------+ | 5 | CORTEX | +-------+------------------------+ .. _GEN_OPTIONS: GEN\_OPTIONS: Generator Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask of options for generators +-----+----------------------------------------+ | Bit | Meaning | +=====+========================================+ | 0 | Suppress Maintenance-Required Warnings | +-----+----------------------------------------+ .. _parameters_GEN_L_: GEN\_L\_ Parameters ------------------- .. _GEN_L_MNT_TIME: GEN\_L\_MNT\_TIME: Seconds until maintenance required ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Seconds until maintenance required .. _GEN_L_RUNTIME: GEN\_L\_RUNTIME: Total runtime ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Total time this generator has run in seconds .. _GEN_L_IDLE_TH_H: GEN\_L\_IDLE\_TH\_H: High Idle throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* throttle value to use when warming up or cooling down .. _GEN_L_IDLE_TH: GEN\_L\_IDLE\_TH: Idle throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* throttle value to use when idling .. _GEN_L_RUN_TEMP: GEN\_L\_RUN\_TEMP: Run Temperature ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* temperature required for generator to start producing power in deg celsius .. _GEN_L_IDLE_TEMP: GEN\_L\_IDLE\_TEMP: Idle Temperature ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* temperature required for generator to return to idle after having run .. _GEN_L_OVER_TEMP: GEN\_L\_OVER\_TEMP: Cylinder Head Over Temperature Warning Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* threshold temperature for the cylinder head above which the mavlink over temperature message gets sent +-----------------+ | Units | +=================+ | degrees Celsius | +-----------------+ .. _parameters_GPS: GPS Parameters -------------- .. _GPS_NAVFILTER: GPS\_NAVFILTER: Navigation filter setting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Navigation filter engine setting +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Portable | +-------+------------+ | 2 | Stationary | +-------+------------+ | 3 | Pedestrian | +-------+------------+ | 4 | Automotive | +-------+------------+ | 5 | Sea | +-------+------------+ | 6 | Airborne1G | +-------+------------+ | 7 | Airborne2G | +-------+------------+ | 8 | Airborne4G | +-------+------------+ .. _GPS_AUTO_SWITCH: GPS\_AUTO\_SWITCH: Automatic Switchover Setting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Automatic switchover to GPS reporting best lock\, 1\:UseBest selects the GPS with highest status\, if both are equal the GPS with highest satellite count is used 4\:Use primary if 3D fix or better\, will revert to \'UseBest\' behaviour if 3D fix is lost on primary +-------+---------------------------------+ | Value | Meaning | +=======+=================================+ | 0 | Use primary | +-------+---------------------------------+ | 1 | UseBest | +-------+---------------------------------+ | 2 | Blend | +-------+---------------------------------+ | 4 | Use primary if 3D fix or better | +-------+---------------------------------+ .. _GPS_SBAS_MODE: GPS\_SBAS\_MODE: SBAS Mode ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the SBAS \(satellite based augmentation system\) mode if available on this GPS\. If set to 2 then the SBAS mode is not changed in the GPS\. Otherwise the GPS will be reconfigured to enable\/disable SBAS\. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _GPS_MIN_ELEV: GPS\_MIN\_ELEV: Minimum elevation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the minimum elevation of satellites above the horizon for them to be used for navigation\. Setting this to \-100 leaves the minimum elevation set to the GPS modules default\. +------------+---------+ | Range | Units | +============+=========+ | -100 to 90 | degrees | +------------+---------+ .. _GPS_INJECT_TO: GPS\_INJECT\_TO: Destination for GPS\_INJECT\_DATA MAVLink packets ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The GGS can send raw serial packets to inject data to multiple GPSes\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | send to first GPS | +-------+-------------------+ | 1 | send to 2nd GPS | +-------+-------------------+ | 127 | send to all | +-------+-------------------+ .. _GPS_SBP_LOGMASK: GPS\_SBP\_LOGMASK: Swift Binary Protocol Logging Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Masked with the SBP msg\_type field to determine whether SBR1\/SBR2 data is logged +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None (0x0000) | +-------+------------------------+ | -1 | All (0xFFFF) | +-------+------------------------+ | -256 | External only (0xFF00) | +-------+------------------------+ .. _GPS_RAW_DATA: GPS\_RAW\_DATA: Raw data logging ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Handles logging raw data\; on uBlox chips that support raw data this will log RXM messages into logger\; on Septentrio this will log on the equipment\'s SD card and when set to 2\, the autopilot will try to stop logging after disarming and restart after arming +-------+------------------------------------------+ | Value | Meaning | +=======+==========================================+ | 0 | Ignore | +-------+------------------------------------------+ | 1 | Always log | +-------+------------------------------------------+ | 2 | Stop logging when disarmed (SBF only) | +-------+------------------------------------------+ | 5 | Only log every five samples (uBlox only) | +-------+------------------------------------------+ .. _GPS_SAVE_CFG: GPS\_SAVE\_CFG: Save GPS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Determines whether the configuration for this GPS should be written to non\-volatile memory on the GPS\. Currently working for UBlox 6 series and above\. +-------+-----------------------+ | Value | Meaning | +=======+=======================+ | 0 | Do not save config | +-------+-----------------------+ | 1 | Save config | +-------+-----------------------+ | 2 | Save only when needed | +-------+-----------------------+ .. _GPS_AUTO_CONFIG: GPS\_AUTO\_CONFIG: Automatic GPS configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls if the autopilot should automatically configure the GPS based on the parameters and default settings +-------+------------------------------------------------------------+ | Value | Meaning | +=======+============================================================+ | 0 | Disables automatic configuration | +-------+------------------------------------------------------------+ | 1 | Enable automatic configuration for Serial GPSes only | +-------+------------------------------------------------------------+ | 2 | Enable automatic configuration for DroneCAN as well | +-------+------------------------------------------------------------+ | 3 | Clear all configurations not set by ardupilot (UBlox only) | +-------+------------------------------------------------------------+ .. _GPS_BLEND_MASK: GPS\_BLEND\_MASK: Multi GPS Blending Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Determines which of the accuracy measures Horizontal position\, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS\_AUTO\_SWITCH to 2\(Blend\) +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | Horiz Pos | +-----+-----------+ | 1 | Vert Pos | +-----+-----------+ | 2 | Speed | +-----+-----------+ .. _GPS_DRV_OPTIONS: GPS\_DRV\_OPTIONS: driver options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Additional backend specific options +-----+-------------------------------------------------------------------------------------------------+ | Bit | Meaning | +=====+=================================================================================================+ | 0 | Use UART2 for moving baseline on ublox | +-----+-------------------------------------------------------------------------------------------------+ | 1 | Use base station for GPS yaw on SBF | +-----+-------------------------------------------------------------------------------------------------+ | 2 | Use baudrate 115200 on ublox | +-----+-------------------------------------------------------------------------------------------------+ | 3 | Use dedicated CAN port b/w GPSes for moving baseline | +-----+-------------------------------------------------------------------------------------------------+ | 4 | Use ellipsoid height instead of AMSL | +-----+-------------------------------------------------------------------------------------------------+ | 5 | Override GPS satellite health of L5 band from L1 health | +-----+-------------------------------------------------------------------------------------------------+ | 6 | Enable RTCM full parse even for a single channel | +-----+-------------------------------------------------------------------------------------------------+ | 7 | Disable automatic full RTCM parsing when RTCM seen on more than one channel | +-----+-------------------------------------------------------------------------------------------------+ | 8 | Force UBlox Config Get/Set for configuration then automatic configuration for Serial GPSes only | +-----+-------------------------------------------------------------------------------------------------+ .. _GPS_PRIMARY: GPS\_PRIMARY: Primary GPS ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This GPS will be used when GPS\_AUTO\_SWITCH is 0 and used preferentially with GPS\_AUTO\_SWITCH \= 4\. +-------+-----------+ | Value | Meaning | +=======+===========+ | 0 | FirstGPS | +-------+-----------+ | 1 | SecondGPS | +-------+-----------+ +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _parameters_GPS1_: GPS1\_ Parameters ----------------- .. _GPS1_TYPE: GPS1\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* GPS type +-------+-------------------------------+ | Value | Meaning | +=======+===============================+ | 0 | None | +-------+-------------------------------+ | 1 | AUTO | +-------+-------------------------------+ | 2 | uBlox | +-------+-------------------------------+ | 5 | NMEA | +-------+-------------------------------+ | 6 | SiRF | +-------+-------------------------------+ | 7 | HIL | +-------+-------------------------------+ | 8 | SwiftNav | +-------+-------------------------------+ | 9 | DroneCAN | +-------+-------------------------------+ | 10 | Septentrio(SBF) | +-------+-------------------------------+ | 11 | Trimble(GSOF) | +-------+-------------------------------+ | 13 | ERB | +-------+-------------------------------+ | 14 | MAVLink | +-------+-------------------------------+ | 15 | NOVA | +-------+-------------------------------+ | 16 | HemisphereNMEA | +-------+-------------------------------+ | 17 | uBlox-MovingBaseline-Base | +-------+-------------------------------+ | 18 | uBlox-MovingBaseline-Rover | +-------+-------------------------------+ | 19 | MSP | +-------+-------------------------------+ | 20 | AllyStar | +-------+-------------------------------+ | 21 | ExternalAHRS | +-------+-------------------------------+ | 22 | DroneCAN-MovingBaseline-Base | +-------+-------------------------------+ | 23 | DroneCAN-MovingBaseline-Rover | +-------+-------------------------------+ | 24 | UnicoreNMEA | +-------+-------------------------------+ | 25 | UnicoreMovingBaselineNMEA | +-------+-------------------------------+ | 26 | Septentrio-DualAntenna(SBF) | +-------+-------------------------------+ .. _GPS1_GNSS_MODE: GPS1\_GNSS\_MODE: GNSS system configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask for what GNSS system to use \(all unchecked or zero to leave GPS as configured\) +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | GPS | +-----+---------+ | 1 | SBAS | +-----+---------+ | 2 | Galileo | +-----+---------+ | 3 | Beidou | +-----+---------+ | 4 | IMES | +-----+---------+ | 5 | QZSS | +-----+---------+ | 6 | GLONASS | +-----+---------+ | 7 | NAVIC | +-----+---------+ .. _GPS1_RATE_MS: GPS1\_RATE\_MS: GPS update rate in milliseconds ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. +-------+---------+ | Value | Meaning | +=======+=========+ | 100 | 10Hz | +-------+---------+ | 125 | 8Hz | +-------+---------+ | 200 | 5Hz | +-------+---------+ +-----------+--------------+ | Range | Units | +===========+==============+ | 50 to 200 | milliseconds | +-----------+--------------+ .. _GPS1_POS_X: GPS1\_POS\_X: Antenna X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS1_POS_Y: GPS1\_POS\_Y: Antenna Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS1_POS_Z: GPS1\_POS\_Z: Antenna Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS1_DELAY_MS: GPS1\_DELAY\_MS: GPS delay in milliseconds ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. +----------+--------------+ | Range | Units | +==========+==============+ | 0 to 250 | milliseconds | +----------+--------------+ .. _GPS1_COM_PORT: GPS1\_COM\_PORT: GPS physical COM port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | COM1(RS232) on GSOF | +-------+---------------------+ | 1 | COM2(TTL) on GSOF | +-------+---------------------+ +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _GPS1_CAN_NODEID: GPS1\_CAN\_NODEID: Detected CAN Node ID for GPS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set +----------+ | ReadOnly | +==========+ | True | +----------+ .. _GPS1_CAN_OVRIDE: GPS1\_CAN\_OVRIDE: DroneCAN GPS NODE ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. .. _parameters_GPS1_MB_: GPS1\_MB\_ Parameters --------------------- .. _GPS1_MB_TYPE: GPS1\_MB\_TYPE: Moving base type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. +-------+------------------------------------+ | Value | Meaning | +=======+====================================+ | 0 | Relative to alternate GPS instance | +-------+------------------------------------+ | 1 | RelativeToCustomBase | +-------+------------------------------------+ .. _GPS1_MB_OFS_X: GPS1\_MB\_OFS\_X: Base antenna X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS1_MB_OFS_Y: GPS1\_MB\_OFS\_Y: Base antenna Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS1_MB_OFS_Z: GPS1\_MB\_OFS\_Z: Base antenna Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _parameters_GPS2_: GPS2\_ Parameters ----------------- .. _GPS2_TYPE: GPS2\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* GPS type +-------+-------------------------------+ | Value | Meaning | +=======+===============================+ | 0 | None | +-------+-------------------------------+ | 1 | AUTO | +-------+-------------------------------+ | 2 | uBlox | +-------+-------------------------------+ | 5 | NMEA | +-------+-------------------------------+ | 6 | SiRF | +-------+-------------------------------+ | 7 | HIL | +-------+-------------------------------+ | 8 | SwiftNav | +-------+-------------------------------+ | 9 | DroneCAN | +-------+-------------------------------+ | 10 | Septentrio(SBF) | +-------+-------------------------------+ | 11 | Trimble(GSOF) | +-------+-------------------------------+ | 13 | ERB | +-------+-------------------------------+ | 14 | MAVLink | +-------+-------------------------------+ | 15 | NOVA | +-------+-------------------------------+ | 16 | HemisphereNMEA | +-------+-------------------------------+ | 17 | uBlox-MovingBaseline-Base | +-------+-------------------------------+ | 18 | uBlox-MovingBaseline-Rover | +-------+-------------------------------+ | 19 | MSP | +-------+-------------------------------+ | 20 | AllyStar | +-------+-------------------------------+ | 21 | ExternalAHRS | +-------+-------------------------------+ | 22 | DroneCAN-MovingBaseline-Base | +-------+-------------------------------+ | 23 | DroneCAN-MovingBaseline-Rover | +-------+-------------------------------+ | 24 | UnicoreNMEA | +-------+-------------------------------+ | 25 | UnicoreMovingBaselineNMEA | +-------+-------------------------------+ | 26 | Septentrio-DualAntenna(SBF) | +-------+-------------------------------+ .. _GPS2_GNSS_MODE: GPS2\_GNSS\_MODE: GNSS system configuration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask for what GNSS system to use \(all unchecked or zero to leave GPS as configured\) +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | GPS | +-----+---------+ | 1 | SBAS | +-----+---------+ | 2 | Galileo | +-----+---------+ | 3 | Beidou | +-----+---------+ | 4 | IMES | +-----+---------+ | 5 | QZSS | +-----+---------+ | 6 | GLONASS | +-----+---------+ | 7 | NAVIC | +-----+---------+ .. _GPS2_RATE_MS: GPS2\_RATE\_MS: GPS update rate in milliseconds ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. +-------+---------+ | Value | Meaning | +=======+=========+ | 100 | 10Hz | +-------+---------+ | 125 | 8Hz | +-------+---------+ | 200 | 5Hz | +-------+---------+ +-----------+--------------+ | Range | Units | +===========+==============+ | 50 to 200 | milliseconds | +-----------+--------------+ .. _GPS2_POS_X: GPS2\_POS\_X: Antenna X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS2_POS_Y: GPS2\_POS\_Y: Antenna Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS2_POS_Z: GPS2\_POS\_Z: Antenna Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS2_DELAY_MS: GPS2\_DELAY\_MS: GPS delay in milliseconds ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. +----------+--------------+ | Range | Units | +==========+==============+ | 0 to 250 | milliseconds | +----------+--------------+ .. _GPS2_COM_PORT: GPS2\_COM\_PORT: GPS physical COM port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | COM1(RS232) on GSOF | +-------+---------------------+ | 1 | COM2(TTL) on GSOF | +-------+---------------------+ +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _GPS2_CAN_NODEID: GPS2\_CAN\_NODEID: Detected CAN Node ID for GPS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set +----------+ | ReadOnly | +==========+ | True | +----------+ .. _GPS2_CAN_OVRIDE: GPS2\_CAN\_OVRIDE: DroneCAN GPS NODE ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. .. _parameters_GPS2_MB_: GPS2\_MB\_ Parameters --------------------- .. _GPS2_MB_TYPE: GPS2\_MB\_TYPE: Moving base type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. +-------+------------------------------------+ | Value | Meaning | +=======+====================================+ | 0 | Relative to alternate GPS instance | +-------+------------------------------------+ | 1 | RelativeToCustomBase | +-------+------------------------------------+ .. _GPS2_MB_OFS_X: GPS2\_MB\_OFS\_X: Base antenna X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS2_MB_OFS_Y: GPS2\_MB\_OFS\_Y: Base antenna Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS2_MB_OFS_Z: GPS2\_MB\_OFS\_Z: Base antenna Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _parameters_GPS_MB1_: GPS\_MB1\_ Parameters --------------------- .. _GPS_MB1_TYPE: GPS\_MB1\_TYPE: Moving base type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. +-------+------------------------------------+ | Value | Meaning | +=======+====================================+ | 0 | Relative to alternate GPS instance | +-------+------------------------------------+ | 1 | RelativeToCustomBase | +-------+------------------------------------+ .. _GPS_MB1_OFS_X: GPS\_MB1\_OFS\_X: Base antenna X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS_MB1_OFS_Y: GPS\_MB1\_OFS\_Y: Base antenna Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS_MB1_OFS_Z: GPS\_MB1\_OFS\_Z: Base antenna Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _parameters_GPS_MB2_: GPS\_MB2\_ Parameters --------------------- .. _GPS_MB2_TYPE: GPS\_MB2\_TYPE: Moving base type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. +-------+------------------------------------+ | Value | Meaning | +=======+====================================+ | 0 | Relative to alternate GPS instance | +-------+------------------------------------+ | 1 | RelativeToCustomBase | +-------+------------------------------------+ .. _GPS_MB2_OFS_X: GPS\_MB2\_OFS\_X: Base antenna X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS_MB2_OFS_Y: GPS\_MB2\_OFS\_Y: Base antenna Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _GPS_MB2_OFS_Z: GPS\_MB2\_OFS\_Z: Base antenna Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _parameters_GRIP_: GRIP\_ Parameters ----------------- .. _GRIP_ENABLE: GRIP\_ENABLE: Gripper Enable\/Disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Gripper enable\/disable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _GRIP_TYPE: GRIP\_TYPE: Gripper Type ~~~~~~~~~~~~~~~~~~~~~~~~ Gripper enable\/disable +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | None | +-------+---------+ | 1 | Servo | +-------+---------+ | 2 | EPM | +-------+---------+ .. _GRIP_GRAB: GRIP\_GRAB: Gripper Grab PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM value in microseconds sent to Gripper to initiate grabbing the cargo +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _GRIP_RELEASE: GRIP\_RELEASE: Gripper Release PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM value in microseconds sent to Gripper to release the cargo +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _GRIP_NEUTRAL: GRIP\_NEUTRAL: Neutral PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM value in microseconds sent to grabber when not grabbing or releasing +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _GRIP_REGRAB: GRIP\_REGRAB: EPM Gripper Regrab interval ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened\; 0 to disable +----------+---------+ | Range | Units | +==========+=========+ | 0 to 255 | seconds | +----------+---------+ .. _GRIP_CAN_ID: GRIP\_CAN\_ID: EPM UAVCAN Hardpoint ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Refer to https\:\/\/docs\.zubax\.com\/opengrab\_epm\_v3\#UAVCAN\_interface +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _GRIP_AUTOCLOSE: GRIP\_AUTOCLOSE: Gripper Autoclose time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time in seconds that gripper close the gripper after opening\; 0 to disable +-------------+---------+ | Range | Units | +=============+=========+ | 0.25 to 255 | seconds | +-------------+---------+ .. _parameters_INS: INS Parameters -------------- .. _INS_GYROFFS_X: INS\_GYROFFS\_X: Gyro offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS_GYROFFS_Y: INS\_GYROFFS\_Y: Gyro offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS_GYROFFS_Z: INS\_GYROFFS\_Z: Gyro offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS_GYR2OFFS_X: INS\_GYR2OFFS\_X: Gyro2 offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro2 sensor offsets of X axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS_GYR2OFFS_Y: INS\_GYR2OFFS\_Y: Gyro2 offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro2 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS_GYR2OFFS_Z: INS\_GYR2OFFS\_Z: Gyro2 offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro2 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS_GYR3OFFS_X: INS\_GYR3OFFS\_X: Gyro3 offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro3 sensor offsets of X axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS_GYR3OFFS_Y: INS\_GYR3OFFS\_Y: Gyro3 offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro3 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS_GYR3OFFS_Z: INS\_GYR3OFFS\_Z: Gyro3 offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro3 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS_ACCSCAL_X: INS\_ACCSCAL\_X: Accelerometer scaling of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer scaling of X axis\. Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS_ACCSCAL_Y: INS\_ACCSCAL\_Y: Accelerometer scaling of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer scaling of Y axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS_ACCSCAL_Z: INS\_ACCSCAL\_Z: Accelerometer scaling of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer scaling of Z axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS_ACCOFFS_X: INS\_ACCOFFS\_X: Accelerometer offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS_ACCOFFS_Y: INS\_ACCOFFS\_Y: Accelerometer offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS_ACCOFFS_Z: INS\_ACCOFFS\_Z: Accelerometer offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS_ACC2SCAL_X: INS\_ACC2SCAL\_X: Accelerometer2 scaling of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer2 scaling of X axis\. Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS_ACC2SCAL_Y: INS\_ACC2SCAL\_Y: Accelerometer2 scaling of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS_ACC2SCAL_Z: INS\_ACC2SCAL\_Z: Accelerometer2 scaling of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS_ACC2OFFS_X: INS\_ACC2OFFS\_X: Accelerometer2 offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer2 offsets of X axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS_ACC2OFFS_Y: INS\_ACC2OFFS\_Y: Accelerometer2 offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer2 offsets of Y axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS_ACC2OFFS_Z: INS\_ACC2OFFS\_Z: Accelerometer2 offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer2 offsets of Z axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS_ACC3SCAL_X: INS\_ACC3SCAL\_X: Accelerometer3 scaling of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer3 scaling of X axis\. Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS_ACC3SCAL_Y: INS\_ACC3SCAL\_Y: Accelerometer3 scaling of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS_ACC3SCAL_Z: INS\_ACC3SCAL\_Z: Accelerometer3 scaling of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS_ACC3OFFS_X: INS\_ACC3OFFS\_X: Accelerometer3 offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer3 offsets of X axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS_ACC3OFFS_Y: INS\_ACC3OFFS\_Y: Accelerometer3 offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer3 offsets of Y axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS_ACC3OFFS_Z: INS\_ACC3OFFS\_Z: Accelerometer3 offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer3 offsets of Z axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS_GYRO_FILTER: INS\_GYRO\_FILTER: Gyro filter cutoff frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Filter cutoff frequency for gyroscopes\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) +----------+-------+ | Range | Units | +==========+=======+ | 0 to 256 | hertz | +----------+-------+ .. _INS_ACCEL_FILTER: INS\_ACCEL\_FILTER: Accel filter cutoff frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Filter cutoff frequency for accelerometers\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) +----------+-------+ | Range | Units | +==========+=======+ | 0 to 256 | hertz | +----------+-------+ .. _INS_USE: INS\_USE: Use first IMU for attitude\, velocity and position estimates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Use first IMU for attitude\, velocity and position estimates +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _INS_USE2: INS\_USE2: Use second IMU for attitude\, velocity and position estimates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Use second IMU for attitude\, velocity and position estimates +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _INS_USE3: INS\_USE3: Use third IMU for attitude\, velocity and position estimates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Use third IMU for attitude\, velocity and position estimates +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _INS_STILL_THRESH: INS\_STILL\_THRESH: Stillness threshold for detecting if we are moving ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Threshold to tolerate vibration to determine if vehicle is motionless\. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing\. Total motionless is about 0\.05\. Suggested values\: Planes\/rover use 0\.1\, multirotors use 1\, tradHeli uses 5 +------------+ | Range | +============+ | 0.05 to 50 | +------------+ .. _INS_GYR_CAL: INS\_GYR\_CAL: Gyro Calibration scheme ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Conrols when automatic gyro calibration is performed +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Never | +-------+---------------+ | 1 | Start-up only | +-------+---------------+ .. _INS_TRIM_OPTION: INS\_TRIM\_OPTION: Accel cal trim option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies how the accel cal routine determines the trims +-------+--------------------------------------------------------+ | Value | Meaning | +=======+========================================================+ | 0 | Don't adjust the trims | +-------+--------------------------------------------------------+ | 1 | Assume first orientation was level | +-------+--------------------------------------------------------+ | 2 | Assume ACC_BODYFIX is perfectly aligned to the vehicle | +-------+--------------------------------------------------------+ .. _INS_ACC_BODYFIX: INS\_ACC\_BODYFIX: Body\-fixed accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The body\-fixed accelerometer to be used for trim calculation +-------+---------+ | Value | Meaning | +=======+=========+ | 1 | IMU 1 | +-------+---------+ | 2 | IMU 2 | +-------+---------+ | 3 | IMU 3 | +-------+---------+ .. _INS_POS1_X: INS\_POS1\_X: IMU accelerometer X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS_POS1_Y: INS\_POS1\_Y: IMU accelerometer Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS_POS1_Z: INS\_POS1\_Z: IMU accelerometer Z position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS_POS2_X: INS\_POS2\_X: IMU accelerometer X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the second IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS_POS2_Y: INS\_POS2\_Y: IMU accelerometer Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the second IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS_POS2_Z: INS\_POS2\_Z: IMU accelerometer Z position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the second IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS_POS3_X: INS\_POS3\_X: IMU accelerometer X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the third IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+--------+ | Range | Units | +===========+========+ | -10 to 10 | meters | +-----------+--------+ .. _INS_POS3_Y: INS\_POS3\_Y: IMU accelerometer Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the third IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS_POS3_Z: INS\_POS3\_Z: IMU accelerometer Z position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the third IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS_GYR_ID: INS\_GYR\_ID: Gyro ID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS_GYR2_ID: INS\_GYR2\_ID: Gyro2 ID ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro2 sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS_GYR3_ID: INS\_GYR3\_ID: Gyro3 ID ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro3 sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS_ACC_ID: INS\_ACC\_ID: Accelerometer ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS_ACC2_ID: INS\_ACC2\_ID: Accelerometer2 ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer2 sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS_ACC3_ID: INS\_ACC3\_ID: Accelerometer3 ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer3 sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS_FAST_SAMPLE: INS\_FAST\_SAMPLE: Fast sampling mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mask of IMUs to enable fast sampling on\, if available +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | FirstIMU | +-----+-----------+ | 1 | SecondIMU | +-----+-----------+ | 2 | ThirdIMU | +-----+-----------+ .. _INS_ENABLE_MASK: INS\_ENABLE\_MASK: IMU enable mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of IMUs to enable\. It can be used to prevent startup of specific detected IMUs +-----+------------+ | Bit | Meaning | +=====+============+ | 0 | FirstIMU | +-----+------------+ | 1 | SecondIMU | +-----+------------+ | 2 | ThirdIMU | +-----+------------+ | 3 | FourthIMU | +-----+------------+ | 4 | FifthIMU | +-----+------------+ | 5 | SixthIMU | +-----+------------+ | 6 | SeventhIMU | +-----+------------+ .. _INS_GYRO_RATE: INS\_GYRO\_RATE: Gyro rate for IMUs with Fast Sampling enabled ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Gyro rate for IMUs with fast sampling enabled\. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency\. If the sensor does not support the selected rate the next highest supported rate will be used\. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | 1kHz | +-------+---------+ | 1 | 2kHz | +-------+---------+ | 2 | 4kHz | +-------+---------+ | 3 | 8kHz | +-------+---------+ .. _INS_ACC1_CALTEMP: INS\_ACC1\_CALTEMP: Calibration temperature for 1st accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the 1st accelerometer was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _INS_GYR1_CALTEMP: INS\_GYR1\_CALTEMP: Calibration temperature for 1st gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the 1st gyroscope was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _INS_ACC2_CALTEMP: INS\_ACC2\_CALTEMP: Calibration temperature for 2nd accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the 2nd accelerometer was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _INS_GYR2_CALTEMP: INS\_GYR2\_CALTEMP: Calibration temperature for 2nd gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the 2nd gyroscope was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _INS_ACC3_CALTEMP: INS\_ACC3\_CALTEMP: Calibration temperature for 3rd accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the 3rd accelerometer was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _INS_GYR3_CALTEMP: INS\_GYR3\_CALTEMP: Calibration temperature for 3rd gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the 3rd gyroscope was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _INS_TCAL_OPTIONS: INS\_TCAL\_OPTIONS: Options for temperature calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables optional temperature calibration features\. Setting of the Persist bits will save the temperature and\/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader\. +-----+---------------+ | Bit | Meaning | +=====+===============+ | 0 | PersistTemps | +-----+---------------+ | 1 | PersistAccels | +-----+---------------+ .. _INS_RAW_LOG_OPT: INS\_RAW\_LOG\_OPT: Raw logging options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Raw logging options bitmask +-----+-----------------------+ | Bit | Meaning | +=====+=======================+ | 0 | Log primary gyro only | +-----+-----------------------+ | 1 | Log all gyros | +-----+-----------------------+ | 2 | Post filter | +-----+-----------------------+ | 3 | Pre and post filter | +-----+-----------------------+ .. _parameters_INS4_: INS4\_ Parameters ----------------- .. _INS4_USE: INS4\_USE: Use first IMU for attitude\, velocity and position estimates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Use first IMU for attitude\, velocity and position estimates +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _INS4_ACC_ID: INS4\_ACC\_ID: Accelerometer ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS4_ACCSCAL_X: INS4\_ACCSCAL\_X: Accelerometer scaling of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer scaling of X axis\. Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS4_ACCSCAL_Y: INS4\_ACCSCAL\_Y: Accelerometer scaling of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer scaling of Y axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS4_ACCSCAL_Z: INS4\_ACCSCAL\_Z: Accelerometer scaling of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer scaling of Z axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS4_ACCOFFS_X: INS4\_ACCOFFS\_X: Accelerometer offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS4_ACCOFFS_Y: INS4\_ACCOFFS\_Y: Accelerometer offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS4_ACCOFFS_Z: INS4\_ACCOFFS\_Z: Accelerometer offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS4_POS_X: INS4\_POS\_X: IMU accelerometer X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS4_POS_Y: INS4\_POS\_Y: IMU accelerometer Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS4_POS_Z: INS4\_POS\_Z: IMU accelerometer Z position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS4_ACC_CALTEMP: INS4\_ACC\_CALTEMP: Calibration temperature for accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the accelerometer was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _INS4_GYR_ID: INS4\_GYR\_ID: Gyro ID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS4_GYROFFS_X: INS4\_GYROFFS\_X: Gyro offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS4_GYROFFS_Y: INS4\_GYROFFS\_Y: Gyro offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS4_GYROFFS_Z: INS4\_GYROFFS\_Z: Gyro offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS4_GYR_CALTEMP: INS4\_GYR\_CALTEMP: Calibration temperature for gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the gyroscope was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _parameters_INS4_TCAL_: INS4\_TCAL\_ Parameters ----------------------- .. _INS4_TCAL_ENABLE: INS4\_TCAL\_ENABLE: Enable temperature calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Disabled | +-------+------------------+ | 1 | Enabled | +-------+------------------+ | 2 | LearnCalibration | +-------+------------------+ .. _INS4_TCAL_TMIN: INS4\_TCAL\_TMIN: Temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum temperature that the calibration is valid for +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS4_TCAL_TMAX: INS4\_TCAL\_TMAX: Temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS4_TCAL_ACC1_X: INS4\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_ACC1_Y: INS4\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_ACC1_Z: INS4\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_ACC2_X: INS4\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_ACC2_Y: INS4\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_ACC2_Z: INS4\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_ACC3_X: INS4\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_ACC3_Y: INS4\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_ACC3_Z: INS4\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_GYR1_X: INS4\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_GYR1_Y: INS4\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_GYR1_Z: INS4\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_GYR2_X: INS4\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_GYR2_Y: INS4\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_GYR2_Z: INS4\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_GYR3_X: INS4\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_GYR3_Y: INS4\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS4_TCAL_GYR3_Z: INS4\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _parameters_INS5_: INS5\_ Parameters ----------------- .. _INS5_USE: INS5\_USE: Use first IMU for attitude\, velocity and position estimates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Use first IMU for attitude\, velocity and position estimates +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _INS5_ACC_ID: INS5\_ACC\_ID: Accelerometer ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS5_ACCSCAL_X: INS5\_ACCSCAL\_X: Accelerometer scaling of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer scaling of X axis\. Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS5_ACCSCAL_Y: INS5\_ACCSCAL\_Y: Accelerometer scaling of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer scaling of Y axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS5_ACCSCAL_Z: INS5\_ACCSCAL\_Z: Accelerometer scaling of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer scaling of Z axis Calculated during acceleration calibration routine +-------------+------------+ | Calibration | Range | +=============+============+ | 1 | 0.8 to 1.2 | +-------------+------------+ .. _INS5_ACCOFFS_X: INS5\_ACCOFFS\_X: Accelerometer offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS5_ACCOFFS_Y: INS5\_ACCOFFS\_Y: Accelerometer offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS5_ACCOFFS_Z: INS5\_ACCOFFS\_Z: Accelerometer offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations +-------------+-------------+--------------------------+ | Calibration | Range | Units | +=============+=============+==========================+ | 1 | -3.5 to 3.5 | meters per square second | +-------------+-------------+--------------------------+ .. _INS5_POS_X: INS5\_POS\_X: IMU accelerometer X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS5_POS_Y: INS5\_POS\_Y: IMU accelerometer Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS5_POS_Z: INS5\_POS\_Z: IMU accelerometer Z position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _INS5_ACC_CALTEMP: INS5\_ACC\_CALTEMP: Calibration temperature for accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the accelerometer was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _INS5_GYR_ID: INS5\_GYR\_ID: Gyro ID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor ID\, taking into account its type\, bus and instance +----------+ | ReadOnly | +==========+ | True | +----------+ .. _INS5_GYROFFS_X: INS5\_GYROFFS\_X: Gyro offsets of X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS5_GYROFFS_Y: INS5\_GYROFFS\_Y: Gyro offsets of Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS5_GYROFFS_Z: INS5\_GYROFFS\_Z: Gyro offsets of Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations +-------------+--------------------+ | Calibration | Units | +=============+====================+ | 1 | radians per second | +-------------+--------------------+ .. _INS5_GYR_CALTEMP: INS5\_GYR\_CALTEMP: Calibration temperature for gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Temperature that the gyroscope was calibrated at +-------------+-----------------+ | Calibration | Units | +=============+=================+ | 1 | degrees Celsius | +-------------+-----------------+ .. _parameters_INS5_TCAL_: INS5\_TCAL\_ Parameters ----------------------- .. _INS5_TCAL_ENABLE: INS5\_TCAL\_ENABLE: Enable temperature calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Disabled | +-------+------------------+ | 1 | Enabled | +-------+------------------+ | 2 | LearnCalibration | +-------+------------------+ .. _INS5_TCAL_TMIN: INS5\_TCAL\_TMIN: Temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum temperature that the calibration is valid for +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS5_TCAL_TMAX: INS5\_TCAL\_TMAX: Temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS5_TCAL_ACC1_X: INS5\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_ACC1_Y: INS5\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_ACC1_Z: INS5\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_ACC2_X: INS5\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_ACC2_Y: INS5\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_ACC2_Z: INS5\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_ACC3_X: INS5\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_ACC3_Y: INS5\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_ACC3_Z: INS5\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_GYR1_X: INS5\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_GYR1_Y: INS5\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_GYR1_Z: INS5\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_GYR2_X: INS5\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_GYR2_Y: INS5\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_GYR2_Z: INS5\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_GYR3_X: INS5\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_GYR3_Y: INS5\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS5_TCAL_GYR3_Z: INS5\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _parameters_INS_HNTC2_: INS\_HNTC2\_ Parameters ----------------------- .. _INS_HNTC2_ENABLE: INS\_HNTC2\_ENABLE: Harmonic Notch Filter enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _INS_HNTC2_FREQ: INS\_HNTC2\_FREQ: Harmonic Notch Filter base frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _INS_HNTC2_BW: INS\_HNTC2\_BW: Harmonic Notch Filter bandwidth ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. +----------+-------+ | Range | Units | +==========+=======+ | 5 to 250 | hertz | +----------+-------+ .. _INS_HNTC2_ATT: INS\_HNTC2\_ATT: Harmonic Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _INS_HNTC2_HMNCS: INS\_HNTC2\_HMNCS: Harmonic Notch Filter harmonics ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. +-----+---------------+ | Bit | Meaning | +=====+===============+ | 0 | 1st harmonic | +-----+---------------+ | 1 | 2nd harmonic | +-----+---------------+ | 2 | 3rd harmonic | +-----+---------------+ | 3 | 4th harmonic | +-----+---------------+ | 4 | 5th harmonic | +-----+---------------+ | 5 | 6th harmonic | +-----+---------------+ | 6 | 7th harmonic | +-----+---------------+ | 7 | 8th harmonic | +-----+---------------+ | 8 | 9th harmonic | +-----+---------------+ | 9 | 10th harmonic | +-----+---------------+ | 10 | 11th harmonic | +-----+---------------+ | 11 | 12th harmonic | +-----+---------------+ | 12 | 13th harmonic | +-----+---------------+ | 13 | 14th harmonic | +-----+---------------+ | 14 | 15th harmonic | +-----+---------------+ | 15 | 16th harmonic | +-----+---------------+ .. _INS_HNTC2_REF: INS\_HNTC2\_REF: Harmonic Notch Filter reference value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. +------------+ | Range | +============+ | 0.0 to 1.0 | +------------+ .. _INS_HNTC2_MODE: INS\_HNTC2\_MODE: Harmonic Notch Filter dynamic frequency tracking mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuadPlane\(while in VTOL modes\)\, and Rovers\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Fixed | +-------+-------------------+ | 1 | Throttle | +-------+-------------------+ | 2 | RPM Sensor | +-------+-------------------+ | 3 | ESC Telemetry | +-------+-------------------+ | 4 | Dynamic FFT | +-------+-------------------+ | 5 | Second RPM Sensor | +-------+-------------------+ +--------+ | Range | +========+ | 0 to 5 | +--------+ .. _INS_HNTC2_OPTS: INS\_HNTC2\_OPTS: Harmonic Notch Filter options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. +-----+------------------------------------+ | Bit | Meaning | +=====+====================================+ | 0 | Double notch | +-----+------------------------------------+ | 1 | Multi-Source | +-----+------------------------------------+ | 2 | Update at loop rate | +-----+------------------------------------+ | 3 | EnableOnAllIMUs | +-----+------------------------------------+ | 4 | Triple notch | +-----+------------------------------------+ | 5 | Use min freq on RPM source failure | +-----+------------------------------------+ | 6 | Quintuple notch | +-----+------------------------------------+ .. _INS_HNTC2_FM_RAT: INS\_HNTC2\_FM\_RAT: Throttle notch min frequency ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. +------------+ | Range | +============+ | 0.1 to 1.0 | +------------+ .. _INS_HNTC2_ESCMSK: INS\_HNTC2\_ESCMSK: Harmonic Notch Filter ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of ESC channels to use in ESC Telemetry mode\. 0 uses all available ESCs\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _parameters_INS_HNTC3_: INS\_HNTC3\_ Parameters ----------------------- .. _INS_HNTC3_ENABLE: INS\_HNTC3\_ENABLE: Harmonic Notch Filter enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _INS_HNTC3_FREQ: INS\_HNTC3\_FREQ: Harmonic Notch Filter base frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _INS_HNTC3_BW: INS\_HNTC3\_BW: Harmonic Notch Filter bandwidth ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. +----------+-------+ | Range | Units | +==========+=======+ | 5 to 250 | hertz | +----------+-------+ .. _INS_HNTC3_ATT: INS\_HNTC3\_ATT: Harmonic Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _INS_HNTC3_HMNCS: INS\_HNTC3\_HMNCS: Harmonic Notch Filter harmonics ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. +-----+---------------+ | Bit | Meaning | +=====+===============+ | 0 | 1st harmonic | +-----+---------------+ | 1 | 2nd harmonic | +-----+---------------+ | 2 | 3rd harmonic | +-----+---------------+ | 3 | 4th harmonic | +-----+---------------+ | 4 | 5th harmonic | +-----+---------------+ | 5 | 6th harmonic | +-----+---------------+ | 6 | 7th harmonic | +-----+---------------+ | 7 | 8th harmonic | +-----+---------------+ | 8 | 9th harmonic | +-----+---------------+ | 9 | 10th harmonic | +-----+---------------+ | 10 | 11th harmonic | +-----+---------------+ | 11 | 12th harmonic | +-----+---------------+ | 12 | 13th harmonic | +-----+---------------+ | 13 | 14th harmonic | +-----+---------------+ | 14 | 15th harmonic | +-----+---------------+ | 15 | 16th harmonic | +-----+---------------+ .. _INS_HNTC3_REF: INS\_HNTC3\_REF: Harmonic Notch Filter reference value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. +------------+ | Range | +============+ | 0.0 to 1.0 | +------------+ .. _INS_HNTC3_MODE: INS\_HNTC3\_MODE: Harmonic Notch Filter dynamic frequency tracking mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuadPlane\(while in VTOL modes\)\, and Rovers\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Fixed | +-------+-------------------+ | 1 | Throttle | +-------+-------------------+ | 2 | RPM Sensor | +-------+-------------------+ | 3 | ESC Telemetry | +-------+-------------------+ | 4 | Dynamic FFT | +-------+-------------------+ | 5 | Second RPM Sensor | +-------+-------------------+ +--------+ | Range | +========+ | 0 to 5 | +--------+ .. _INS_HNTC3_OPTS: INS\_HNTC3\_OPTS: Harmonic Notch Filter options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. +-----+------------------------------------+ | Bit | Meaning | +=====+====================================+ | 0 | Double notch | +-----+------------------------------------+ | 1 | Multi-Source | +-----+------------------------------------+ | 2 | Update at loop rate | +-----+------------------------------------+ | 3 | EnableOnAllIMUs | +-----+------------------------------------+ | 4 | Triple notch | +-----+------------------------------------+ | 5 | Use min freq on RPM source failure | +-----+------------------------------------+ | 6 | Quintuple notch | +-----+------------------------------------+ .. _INS_HNTC3_FM_RAT: INS\_HNTC3\_FM\_RAT: Throttle notch min frequency ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. +------------+ | Range | +============+ | 0.1 to 1.0 | +------------+ .. _INS_HNTC3_ESCMSK: INS\_HNTC3\_ESCMSK: Harmonic Notch Filter ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of ESC channels to use in ESC Telemetry mode\. 0 uses all available ESCs\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _parameters_INS_HNTC4_: INS\_HNTC4\_ Parameters ----------------------- .. _INS_HNTC4_ENABLE: INS\_HNTC4\_ENABLE: Harmonic Notch Filter enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _INS_HNTC4_FREQ: INS\_HNTC4\_FREQ: Harmonic Notch Filter base frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _INS_HNTC4_BW: INS\_HNTC4\_BW: Harmonic Notch Filter bandwidth ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. +----------+-------+ | Range | Units | +==========+=======+ | 5 to 250 | hertz | +----------+-------+ .. _INS_HNTC4_ATT: INS\_HNTC4\_ATT: Harmonic Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _INS_HNTC4_HMNCS: INS\_HNTC4\_HMNCS: Harmonic Notch Filter harmonics ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. +-----+---------------+ | Bit | Meaning | +=====+===============+ | 0 | 1st harmonic | +-----+---------------+ | 1 | 2nd harmonic | +-----+---------------+ | 2 | 3rd harmonic | +-----+---------------+ | 3 | 4th harmonic | +-----+---------------+ | 4 | 5th harmonic | +-----+---------------+ | 5 | 6th harmonic | +-----+---------------+ | 6 | 7th harmonic | +-----+---------------+ | 7 | 8th harmonic | +-----+---------------+ | 8 | 9th harmonic | +-----+---------------+ | 9 | 10th harmonic | +-----+---------------+ | 10 | 11th harmonic | +-----+---------------+ | 11 | 12th harmonic | +-----+---------------+ | 12 | 13th harmonic | +-----+---------------+ | 13 | 14th harmonic | +-----+---------------+ | 14 | 15th harmonic | +-----+---------------+ | 15 | 16th harmonic | +-----+---------------+ .. _INS_HNTC4_REF: INS\_HNTC4\_REF: Harmonic Notch Filter reference value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. +------------+ | Range | +============+ | 0.0 to 1.0 | +------------+ .. _INS_HNTC4_MODE: INS\_HNTC4\_MODE: Harmonic Notch Filter dynamic frequency tracking mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuadPlane\(while in VTOL modes\)\, and Rovers\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Fixed | +-------+-------------------+ | 1 | Throttle | +-------+-------------------+ | 2 | RPM Sensor | +-------+-------------------+ | 3 | ESC Telemetry | +-------+-------------------+ | 4 | Dynamic FFT | +-------+-------------------+ | 5 | Second RPM Sensor | +-------+-------------------+ +--------+ | Range | +========+ | 0 to 5 | +--------+ .. _INS_HNTC4_OPTS: INS\_HNTC4\_OPTS: Harmonic Notch Filter options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. +-----+------------------------------------+ | Bit | Meaning | +=====+====================================+ | 0 | Double notch | +-----+------------------------------------+ | 1 | Multi-Source | +-----+------------------------------------+ | 2 | Update at loop rate | +-----+------------------------------------+ | 3 | EnableOnAllIMUs | +-----+------------------------------------+ | 4 | Triple notch | +-----+------------------------------------+ | 5 | Use min freq on RPM source failure | +-----+------------------------------------+ | 6 | Quintuple notch | +-----+------------------------------------+ .. _INS_HNTC4_FM_RAT: INS\_HNTC4\_FM\_RAT: Throttle notch min frequency ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. +------------+ | Range | +============+ | 0.1 to 1.0 | +------------+ .. _INS_HNTC4_ESCMSK: INS\_HNTC4\_ESCMSK: Harmonic Notch Filter ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of ESC channels to use in ESC Telemetry mode\. 0 uses all available ESCs\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _parameters_INS_HNTCH_: INS\_HNTCH\_ Parameters ----------------------- .. _INS_HNTCH_ENABLE: INS\_HNTCH\_ENABLE: Harmonic Notch Filter enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter enable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _INS_HNTCH_FREQ: INS\_HNTCH\_FREQ: Harmonic Notch Filter base frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _INS_HNTCH_BW: INS\_HNTCH\_BW: Harmonic Notch Filter bandwidth ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. +----------+-------+ | Range | Units | +==========+=======+ | 5 to 250 | hertz | +----------+-------+ .. _INS_HNTCH_ATT: INS\_HNTCH\_ATT: Harmonic Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _INS_HNTCH_HMNCS: INS\_HNTCH\_HMNCS: Harmonic Notch Filter harmonics ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. +-----+---------------+ | Bit | Meaning | +=====+===============+ | 0 | 1st harmonic | +-----+---------------+ | 1 | 2nd harmonic | +-----+---------------+ | 2 | 3rd harmonic | +-----+---------------+ | 3 | 4th harmonic | +-----+---------------+ | 4 | 5th harmonic | +-----+---------------+ | 5 | 6th harmonic | +-----+---------------+ | 6 | 7th harmonic | +-----+---------------+ | 7 | 8th harmonic | +-----+---------------+ | 8 | 9th harmonic | +-----+---------------+ | 9 | 10th harmonic | +-----+---------------+ | 10 | 11th harmonic | +-----+---------------+ | 11 | 12th harmonic | +-----+---------------+ | 12 | 13th harmonic | +-----+---------------+ | 13 | 14th harmonic | +-----+---------------+ | 14 | 15th harmonic | +-----+---------------+ | 15 | 16th harmonic | +-----+---------------+ .. _INS_HNTCH_REF: INS\_HNTCH\_REF: Harmonic Notch Filter reference value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. +------------+ | Range | +============+ | 0.0 to 1.0 | +------------+ .. _INS_HNTCH_MODE: INS\_HNTCH\_MODE: Harmonic Notch Filter dynamic frequency tracking mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuadPlane\(while in VTOL modes\)\, and Rovers\. +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Fixed | +-------+-------------------+ | 1 | Throttle | +-------+-------------------+ | 2 | RPM Sensor | +-------+-------------------+ | 3 | ESC Telemetry | +-------+-------------------+ | 4 | Dynamic FFT | +-------+-------------------+ | 5 | Second RPM Sensor | +-------+-------------------+ +--------+ | Range | +========+ | 0 to 5 | +--------+ .. _INS_HNTCH_OPTS: INS\_HNTCH\_OPTS: Harmonic Notch Filter options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. +-----+------------------------------------+ | Bit | Meaning | +=====+====================================+ | 0 | Double notch | +-----+------------------------------------+ | 1 | Multi-Source | +-----+------------------------------------+ | 2 | Update at loop rate | +-----+------------------------------------+ | 3 | EnableOnAllIMUs | +-----+------------------------------------+ | 4 | Triple notch | +-----+------------------------------------+ | 5 | Use min freq on RPM source failure | +-----+------------------------------------+ | 6 | Quintuple notch | +-----+------------------------------------+ .. _INS_HNTCH_FM_RAT: INS\_HNTCH\_FM\_RAT: Throttle notch min frequency ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. +------------+ | Range | +============+ | 0.1 to 1.0 | +------------+ .. _INS_HNTCH_ESCMSK: INS\_HNTCH\_ESCMSK: Harmonic Notch Filter ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of ESC channels to use in ESC Telemetry mode\. 0 uses all available ESCs\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | ESC 1 | +-----+---------+ | 1 | ESC 2 | +-----+---------+ | 2 | ESC 3 | +-----+---------+ | 3 | ESC 4 | +-----+---------+ | 4 | ESC 5 | +-----+---------+ | 5 | ESC 6 | +-----+---------+ | 6 | ESC 7 | +-----+---------+ | 7 | ESC 8 | +-----+---------+ | 8 | ESC 9 | +-----+---------+ | 9 | ESC 10 | +-----+---------+ | 10 | ESC 11 | +-----+---------+ | 11 | ESC 12 | +-----+---------+ | 12 | ESC 13 | +-----+---------+ | 13 | ESC 14 | +-----+---------+ | 14 | ESC 15 | +-----+---------+ | 15 | ESC 16 | +-----+---------+ | 16 | ESC 17 | +-----+---------+ | 17 | ESC 18 | +-----+---------+ | 18 | ESC 19 | +-----+---------+ | 19 | ESC 20 | +-----+---------+ | 20 | ESC 21 | +-----+---------+ | 21 | ESC 22 | +-----+---------+ | 22 | ESC 23 | +-----+---------+ | 23 | ESC 24 | +-----+---------+ | 24 | ESC 25 | +-----+---------+ | 25 | ESC 26 | +-----+---------+ | 26 | ESC 27 | +-----+---------+ | 27 | ESC 28 | +-----+---------+ | 28 | ESC 29 | +-----+---------+ | 29 | ESC 30 | +-----+---------+ | 30 | ESC 31 | +-----+---------+ | 31 | ESC 32 | +-----+---------+ .. _parameters_INS_LOG_: INS\_LOG\_ Parameters --------------------- .. _INS_LOG_BAT_CNT: INS\_LOG\_BAT\_CNT: sample count per batch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Number of samples to take when logging streams of IMU sensor readings\. Will be rounded down to a multiple of 32\. This option takes effect on the next reboot\. +-----------+ | Increment | +===========+ | 32 | +-----------+ .. _INS_LOG_BAT_MASK: INS\_LOG\_BAT\_MASK: Sensor Bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bitmap of which IMUs to log batch data for\. This option takes effect on the next reboot\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | IMU1 | +-----+---------+ | 1 | IMU2 | +-----+---------+ | 2 | IMU3 | +-----+---------+ .. _INS_LOG_BAT_OPT: INS\_LOG\_BAT\_OPT: Batch Logging Options Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Options for the BatchSampler\. +-----+-------------------------------------------------------------+ | Bit | Meaning | +=====+=============================================================+ | 0 | Sensor-Rate Logging (sample at full sensor rate seen by AP) | +-----+-------------------------------------------------------------+ | 1 | Sample post-filtering | +-----+-------------------------------------------------------------+ | 2 | Sample pre- and post-filter | +-----+-------------------------------------------------------------+ .. _INS_LOG_BAT_LGIN: INS\_LOG\_BAT\_LGIN: logging interval ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Interval between pushing samples to the AP\_Logger log +-----------+--------------+ | Increment | Units | +===========+==============+ | 10 | milliseconds | +-----------+--------------+ .. _INS_LOG_BAT_LGCT: INS\_LOG\_BAT\_LGCT: logging count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of samples to push to count every INS\_LOG\_BAT\_LGIN +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _parameters_INS_TCAL1_: INS\_TCAL1\_ Parameters ----------------------- .. _INS_TCAL1_ENABLE: INS\_TCAL1\_ENABLE: Enable temperature calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Disabled | +-------+------------------+ | 1 | Enabled | +-------+------------------+ | 2 | LearnCalibration | +-------+------------------+ .. _INS_TCAL1_TMIN: INS\_TCAL1\_TMIN: Temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum temperature that the calibration is valid for +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS_TCAL1_TMAX: INS\_TCAL1\_TMAX: Temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS_TCAL1_ACC1_X: INS\_TCAL1\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_ACC1_Y: INS\_TCAL1\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_ACC1_Z: INS\_TCAL1\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_ACC2_X: INS\_TCAL1\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_ACC2_Y: INS\_TCAL1\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_ACC2_Z: INS\_TCAL1\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_ACC3_X: INS\_TCAL1\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_ACC3_Y: INS\_TCAL1\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_ACC3_Z: INS\_TCAL1\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_GYR1_X: INS\_TCAL1\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_GYR1_Y: INS\_TCAL1\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_GYR1_Z: INS\_TCAL1\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_GYR2_X: INS\_TCAL1\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_GYR2_Y: INS\_TCAL1\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_GYR2_Z: INS\_TCAL1\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_GYR3_X: INS\_TCAL1\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_GYR3_Y: INS\_TCAL1\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL1_GYR3_Z: INS\_TCAL1\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _parameters_INS_TCAL2_: INS\_TCAL2\_ Parameters ----------------------- .. _INS_TCAL2_ENABLE: INS\_TCAL2\_ENABLE: Enable temperature calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Disabled | +-------+------------------+ | 1 | Enabled | +-------+------------------+ | 2 | LearnCalibration | +-------+------------------+ .. _INS_TCAL2_TMIN: INS\_TCAL2\_TMIN: Temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum temperature that the calibration is valid for +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS_TCAL2_TMAX: INS\_TCAL2\_TMAX: Temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS_TCAL2_ACC1_X: INS\_TCAL2\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_ACC1_Y: INS\_TCAL2\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_ACC1_Z: INS\_TCAL2\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_ACC2_X: INS\_TCAL2\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_ACC2_Y: INS\_TCAL2\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_ACC2_Z: INS\_TCAL2\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_ACC3_X: INS\_TCAL2\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_ACC3_Y: INS\_TCAL2\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_ACC3_Z: INS\_TCAL2\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_GYR1_X: INS\_TCAL2\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_GYR1_Y: INS\_TCAL2\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_GYR1_Z: INS\_TCAL2\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_GYR2_X: INS\_TCAL2\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_GYR2_Y: INS\_TCAL2\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_GYR2_Z: INS\_TCAL2\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_GYR3_X: INS\_TCAL2\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_GYR3_Y: INS\_TCAL2\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL2_GYR3_Z: INS\_TCAL2\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _parameters_INS_TCAL3_: INS\_TCAL3\_ Parameters ----------------------- .. _INS_TCAL3_ENABLE: INS\_TCAL3\_ENABLE: Enable temperature calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Disabled | +-------+------------------+ | 1 | Enabled | +-------+------------------+ | 2 | LearnCalibration | +-------+------------------+ .. _INS_TCAL3_TMIN: INS\_TCAL3\_TMIN: Temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum temperature that the calibration is valid for +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS_TCAL3_TMAX: INS\_TCAL3\_TMAX: Temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-------------+-----------+-----------------+ | Calibration | Range | Units | +=============+===========+=================+ | 1 | -70 to 80 | degrees Celsius | +-------------+-----------+-----------------+ .. _INS_TCAL3_ACC1_X: INS\_TCAL3\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_ACC1_Y: INS\_TCAL3\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_ACC1_Z: INS\_TCAL3\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_ACC2_X: INS\_TCAL3\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_ACC2_Y: INS\_TCAL3\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_ACC2_Z: INS\_TCAL3\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_ACC3_X: INS\_TCAL3\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_ACC3_Y: INS\_TCAL3\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_ACC3_Z: INS\_TCAL3\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_GYR1_X: INS\_TCAL3\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_GYR1_Y: INS\_TCAL3\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_GYR1_Z: INS\_TCAL3\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1st order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_GYR2_X: INS\_TCAL3\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_GYR2_Y: INS\_TCAL3\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_GYR2_Z: INS\_TCAL3\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 2nd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_GYR3_X: INS\_TCAL3\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_GYR3_Y: INS\_TCAL3\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _INS_TCAL3_GYR3_Z: INS\_TCAL3\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 3rd order temperature coefficient from a temperature calibration +-------------+ | Calibration | +=============+ | 1 | +-------------+ .. _parameters_KDE_: KDE\_ Parameters ---------------- .. _KDE_NPOLE: KDE\_NPOLE: Number of motor poles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the number of motor poles to calculate the correct RPM value .. _parameters_LOG: LOG Parameters -------------- .. _LOG_BACKEND_TYPE: LOG\_BACKEND\_TYPE: AP\_Logger Backend Storage type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmap of what Logger backend types to enable\. Block\-based logging is available on SITL and boards with dataflash chips\. Multiple backends can be selected\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | File | +-----+---------+ | 1 | MAVLink | +-----+---------+ | 2 | Block | +-----+---------+ .. _LOG_FILE_BUFSIZE: LOG\_FILE\_BUFSIZE: Logging File and Block Backend buffer size max \(in kibibytes\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The File and Block backends use a buffer to store data before writing to the block device\. Raising this value may reduce \"gaps\" in your SD card logging but increases memory usage\. This buffer size may be reduced to free up available memory +----------+-----------+ | Range | Units | +==========+===========+ | 4 to 200 | kibibytes | +----------+-----------+ .. _LOG_DISARMED: LOG\_DISARMED: Enable logging while disarmed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If LOG\_DISARMED is set to 1 then logging will be enabled at all times including when disarmed\. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG\_REPLAY parameter\. If LOG\_DISARMED is set to 2\, then logging will be enabled when disarmed\, but not if a USB connection is detected\. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes\. If LOG\_DISARMED is set to 3 then logging will happen while disarmed\, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | 0 | Disabled | +-------+--------------------------------------+ | 1 | Enabled | +-------+--------------------------------------+ | 2 | Disabled on USB connection | +-------+--------------------------------------+ | 3 | Discard log on reboot if never armed | +-------+--------------------------------------+ .. _LOG_REPLAY: LOG\_REPLAY: Enable logging of information needed for Replay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If LOG\_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter\. LOG\_DISARMED must be set to 1 or 2 or else the log will not contain the pre\-flight data required for replay testing of the EKF\'s\. It is suggested that you also raise LOG\_FILE\_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _LOG_FILE_DSRMROT: LOG\_FILE\_DSRMROT: Stop logging to current file on disarm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When set\, the current log file is closed when the vehicle is disarmed\. If LOG\_DISARMED is set then a fresh log will be opened\. Applies to the File and Block logging backends\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _LOG_MAV_BUFSIZE: LOG\_MAV\_BUFSIZE: Maximum AP\_Logger MAVLink Backend buffer size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum amount of memory to allocate to AP\_Logger\-over\-mavlink +-----------+ | Units | +===========+ | kilobytes | +-----------+ .. _LOG_FILE_TIMEOUT: LOG\_FILE\_TIMEOUT: Timeout before giving up on file writes ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped\. +---------+ | Units | +=========+ | seconds | +---------+ .. _LOG_FILE_MB_FREE: LOG\_FILE\_MB\_FREE: Old logs on the SD card will be deleted to maintain this amount of free space ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set this such that the free space is larger than your largest typical flight log +-----------+----------+ | Range | Units | +===========+==========+ | 2 to 1000 | megabyte | +-----------+----------+ .. _LOG_FILE_RATEMAX: LOG\_FILE\_RATEMAX: Maximum logging rate for file backend ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the maximum rate that streaming log messages will be logged to the file backend\. A value of zero means that rate limiting is disabled\. +-----------+-----------+-------+ | Increment | Range | Units | +===========+===========+=======+ | 0.1 | 0 to 1000 | hertz | +-----------+-----------+-------+ .. _LOG_MAV_RATEMAX: LOG\_MAV\_RATEMAX: Maximum logging rate for mavlink backend ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the maximum rate that streaming log messages will be logged to the mavlink backend\. A value of zero means that rate limiting is disabled\. +-----------+-----------+-------+ | Increment | Range | Units | +===========+===========+=======+ | 0.1 | 0 to 1000 | hertz | +-----------+-----------+-------+ .. _LOG_BLK_RATEMAX: LOG\_BLK\_RATEMAX: Maximum logging rate for block backend ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the maximum rate that streaming log messages will be logged to the block backend\. A value of zero means that rate limiting is disabled\. +-----------+-----------+-------+ | Increment | Range | Units | +===========+===========+=======+ | 0.1 | 0 to 1000 | hertz | +-----------+-----------+-------+ .. _LOG_DARM_RATEMAX: LOG\_DARM\_RATEMAX: Maximum logging rate when disarmed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the maximum rate that streaming log messages will be logged to any backend when disarmed\. A value of zero means that the normal backend rate limit is applied\. +-----------+-----------+-------+ | Increment | Range | Units | +===========+===========+=======+ | 0.1 | 0 to 1000 | hertz | +-----------+-----------+-------+ .. _LOG_MAX_FILES: LOG\_MAX\_FILES: Maximum number of log files ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number\. The value is capped at a board\-dependent maximum\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 2 to 500 | +-----------+----------+ .. _parameters_MAV: MAV Parameters -------------- .. _MAV_SYSID: MAV\_SYSID: MAVLink system ID of this vehicle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network\. IDs above 255 require MAVLink2 with 32\-bit system ID support on every communicating device\. MAVLink1 ports cannot transmit with these IDs\. +-----------------+ | Range | +=================+ | 1 to 4294967295 | +-----------------+ .. _MAV_GCS_SYSID: MAV\_GCS\_SYSID: My ground station number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets what MAVLink source system IDs are accepted for GCS failsafe handling\, RC overrides and manual control\. When MAV\_GCS\_SYSID\_HI is less than MAV\_GCS\_SYSID then only this value is considered to be a GCS\. When MAV\_GCS\_SYSID\_HI is greater than or equal to MAV\_GCS\_SYSID then the range of values between MAV\_GCS\_SYSID and MAV\_GCS\_SYSID\_HI \(inclusive\) are all treated as valid GCS MAVLink system IDs\. +-----------+-----------------+ | Increment | Range | +===========+=================+ | 1 | 1 to 4294967295 | +-----------+-----------------+ .. _MAV_GCS_SYSID_HI: MAV\_GCS\_SYSID\_HI: ground station system ID\, maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Upper limit of MAVLink source system IDs considered to be from the GCS\. When this is less than MAV\_GCS\_SYSID then only MAV\_GCS\_SYSID is used as GCS ID\. When this is greater than or equal to MAV\_GCS\_SYSID then the range of values from MAV\_GCS\_SYSID to MAV\_GCS\_SYSID\_HI \(inclusive\) is treated as a GCS ID\. +-----------+-----------------+ | Increment | Range | +===========+=================+ | 1 | 0 to 4294967295 | +-----------+-----------------+ .. _MAV_OPTIONS: MAV\_OPTIONS: MAVLink Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Alters various behaviour of the MAVLink interface +-----+---------------------------------------------------------------------------------+ | Bit | Meaning | +=====+=================================================================================+ | 0 | Accept MAVLink only from system IDs given by MAV_SYSID_GCS and MAV_SYSID_GCS_HI | +-----+---------------------------------------------------------------------------------+ .. _MAV_TELEM_DELAY: MAV\_TELEM\_DELAY: Telemetry startup delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The amount of time \(in seconds\) to delay radio telemetry to prevent an Xbee bricking on power up +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 30 | seconds | +-----------+---------+---------+ .. _parameters_MAV1: MAV1 Parameters --------------- .. _MAV1_RAW_SENS: MAV1\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV1_EXT_STAT: MAV1\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV1_RC_CHAN: MAV1\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV1_RAW_CTRL: MAV1\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV1_POSITION: MAV1\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV1_EXTRA1: MAV1\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV1_EXTRA2: MAV1\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV1_EXTRA3: MAV1\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV1_PARAMS: MAV1\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV1_ADSB: MAV1\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV1_OPTIONS: MAV1\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV1_DEVID: MAV1\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV2: MAV2 Parameters --------------- .. _MAV2_RAW_SENS: MAV2\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV2_EXT_STAT: MAV2\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV2_RC_CHAN: MAV2\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV2_RAW_CTRL: MAV2\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV2_POSITION: MAV2\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV2_EXTRA1: MAV2\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV2_EXTRA2: MAV2\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV2_EXTRA3: MAV2\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV2_PARAMS: MAV2\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV2_ADSB: MAV2\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV2_OPTIONS: MAV2\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV2_DEVID: MAV2\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV3: MAV3 Parameters --------------- .. _MAV3_RAW_SENS: MAV3\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV3_EXT_STAT: MAV3\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV3_RC_CHAN: MAV3\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV3_RAW_CTRL: MAV3\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV3_POSITION: MAV3\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV3_EXTRA1: MAV3\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV3_EXTRA2: MAV3\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV3_EXTRA3: MAV3\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV3_PARAMS: MAV3\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV3_ADSB: MAV3\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV3_OPTIONS: MAV3\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV3_DEVID: MAV3\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV4: MAV4 Parameters --------------- .. _MAV4_RAW_SENS: MAV4\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV4_EXT_STAT: MAV4\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV4_RC_CHAN: MAV4\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV4_RAW_CTRL: MAV4\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV4_POSITION: MAV4\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV4_EXTRA1: MAV4\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV4_EXTRA2: MAV4\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV4_EXTRA3: MAV4\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV4_PARAMS: MAV4\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV4_ADSB: MAV4\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV4_OPTIONS: MAV4\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV4_DEVID: MAV4\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV5: MAV5 Parameters --------------- .. _MAV5_RAW_SENS: MAV5\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV5_EXT_STAT: MAV5\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV5_RC_CHAN: MAV5\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV5_RAW_CTRL: MAV5\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV5_POSITION: MAV5\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV5_EXTRA1: MAV5\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV5_EXTRA2: MAV5\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV5_EXTRA3: MAV5\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV5_PARAMS: MAV5\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV5_ADSB: MAV5\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV5_OPTIONS: MAV5\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV5_DEVID: MAV5\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV6: MAV6 Parameters --------------- .. _MAV6_RAW_SENS: MAV6\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV6_EXT_STAT: MAV6\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV6_RC_CHAN: MAV6\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV6_RAW_CTRL: MAV6\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV6_POSITION: MAV6\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV6_EXTRA1: MAV6\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV6_EXTRA2: MAV6\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV6_EXTRA3: MAV6\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV6_PARAMS: MAV6\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV6_ADSB: MAV6\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV6_OPTIONS: MAV6\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV6_DEVID: MAV6\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV7: MAV7 Parameters --------------- .. _MAV7_RAW_SENS: MAV7\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV7_EXT_STAT: MAV7\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV7_RC_CHAN: MAV7\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV7_RAW_CTRL: MAV7\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV7_POSITION: MAV7\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV7_EXTRA1: MAV7\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV7_EXTRA2: MAV7\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV7_EXTRA3: MAV7\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV7_PARAMS: MAV7\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV7_ADSB: MAV7\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV7_OPTIONS: MAV7\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV7_DEVID: MAV7\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV8: MAV8 Parameters --------------- .. _MAV8_RAW_SENS: MAV8\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV8_EXT_STAT: MAV8\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV8_RC_CHAN: MAV8\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV8_RAW_CTRL: MAV8\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV8_POSITION: MAV8\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV8_EXTRA1: MAV8\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV8_EXTRA2: MAV8\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV8_EXTRA3: MAV8\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV8_PARAMS: MAV8\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV8_ADSB: MAV8\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV8_OPTIONS: MAV8\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV8_DEVID: MAV8\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV9: MAV9 Parameters --------------- .. _MAV9_RAW_SENS: MAV9\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV9_EXT_STAT: MAV9\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV9_RC_CHAN: MAV9\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV9_RAW_CTRL: MAV9\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV9_POSITION: MAV9\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV9_EXTRA1: MAV9\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV9_EXTRA2: MAV9\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV9_EXTRA3: MAV9\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV9_PARAMS: MAV9\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV9_ADSB: MAV9\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV9_OPTIONS: MAV9\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV9_DEVID: MAV9\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV10: MAV10 Parameters ---------------- .. _MAV10_RAW_SENS: MAV10\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV10_EXT_STAT: MAV10\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV10_RC_CHAN: MAV10\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV10_RAW_CTRL: MAV10\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV10_POSITION: MAV10\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV10_EXTRA1: MAV10\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV10_EXTRA2: MAV10\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV10_EXTRA3: MAV10\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV10_PARAMS: MAV10\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV10_ADSB: MAV10\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV10_OPTIONS: MAV10\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV10_DEVID: MAV10\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV11: MAV11 Parameters ---------------- .. _MAV11_RAW_SENS: MAV11\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV11_EXT_STAT: MAV11\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV11_RC_CHAN: MAV11\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV11_RAW_CTRL: MAV11\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV11_POSITION: MAV11\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV11_EXTRA1: MAV11\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV11_EXTRA2: MAV11\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV11_EXTRA3: MAV11\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV11_PARAMS: MAV11\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV11_ADSB: MAV11\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV11_OPTIONS: MAV11\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV11_DEVID: MAV11\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV12: MAV12 Parameters ---------------- .. _MAV12_RAW_SENS: MAV12\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV12_EXT_STAT: MAV12\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV12_RC_CHAN: MAV12\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV12_RAW_CTRL: MAV12\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV12_POSITION: MAV12\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV12_EXTRA1: MAV12\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV12_EXTRA2: MAV12\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV12_EXTRA3: MAV12\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV12_PARAMS: MAV12\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV12_ADSB: MAV12\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV12_OPTIONS: MAV12\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV12_DEVID: MAV12\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV13: MAV13 Parameters ---------------- .. _MAV13_RAW_SENS: MAV13\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV13_EXT_STAT: MAV13\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV13_RC_CHAN: MAV13\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV13_RAW_CTRL: MAV13\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV13_POSITION: MAV13\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV13_EXTRA1: MAV13\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV13_EXTRA2: MAV13\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV13_EXTRA3: MAV13\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV13_PARAMS: MAV13\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV13_ADSB: MAV13\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV13_OPTIONS: MAV13\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV13_DEVID: MAV13\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV14: MAV14 Parameters ---------------- .. _MAV14_RAW_SENS: MAV14\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV14_EXT_STAT: MAV14\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV14_RC_CHAN: MAV14\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV14_RAW_CTRL: MAV14\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV14_POSITION: MAV14\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV14_EXTRA1: MAV14\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV14_EXTRA2: MAV14\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV14_EXTRA3: MAV14\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV14_PARAMS: MAV14\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV14_ADSB: MAV14\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV14_OPTIONS: MAV14\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV14_DEVID: MAV14\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV15: MAV15 Parameters ---------------- .. _MAV15_RAW_SENS: MAV15\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV15_EXT_STAT: MAV15\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV15_RC_CHAN: MAV15\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV15_RAW_CTRL: MAV15\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV15_POSITION: MAV15\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV15_EXTRA1: MAV15\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV15_EXTRA2: MAV15\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV15_EXTRA3: MAV15\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV15_PARAMS: MAV15\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV15_ADSB: MAV15\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV15_OPTIONS: MAV15\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV15_DEVID: MAV15\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV16: MAV16 Parameters ---------------- .. _MAV16_RAW_SENS: MAV16\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV16_EXT_STAT: MAV16\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV16_RC_CHAN: MAV16\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV16_RAW_CTRL: MAV16\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV16_POSITION: MAV16\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV16_EXTRA1: MAV16\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV16_EXTRA2: MAV16\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV16_EXTRA3: MAV16\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV16_PARAMS: MAV16\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV16_ADSB: MAV16\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV16_OPTIONS: MAV16\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV16_DEVID: MAV16\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV17: MAV17 Parameters ---------------- .. _MAV17_RAW_SENS: MAV17\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV17_EXT_STAT: MAV17\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV17_RC_CHAN: MAV17\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV17_RAW_CTRL: MAV17\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV17_POSITION: MAV17\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV17_EXTRA1: MAV17\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV17_EXTRA2: MAV17\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV17_EXTRA3: MAV17\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV17_PARAMS: MAV17\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV17_ADSB: MAV17\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV17_OPTIONS: MAV17\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV17_DEVID: MAV17\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV18: MAV18 Parameters ---------------- .. _MAV18_RAW_SENS: MAV18\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV18_EXT_STAT: MAV18\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV18_RC_CHAN: MAV18\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV18_RAW_CTRL: MAV18\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV18_POSITION: MAV18\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV18_EXTRA1: MAV18\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV18_EXTRA2: MAV18\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV18_EXTRA3: MAV18\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV18_PARAMS: MAV18\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV18_ADSB: MAV18\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV18_OPTIONS: MAV18\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV18_DEVID: MAV18\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV19: MAV19 Parameters ---------------- .. _MAV19_RAW_SENS: MAV19\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV19_EXT_STAT: MAV19\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV19_RC_CHAN: MAV19\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV19_RAW_CTRL: MAV19\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV19_POSITION: MAV19\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV19_EXTRA1: MAV19\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV19_EXTRA2: MAV19\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV19_EXTRA3: MAV19\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV19_PARAMS: MAV19\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV19_ADSB: MAV19\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV19_OPTIONS: MAV19\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV19_DEVID: MAV19\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV20: MAV20 Parameters ---------------- .. _MAV20_RAW_SENS: MAV20\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV20_EXT_STAT: MAV20\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV20_RC_CHAN: MAV20\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV20_RAW_CTRL: MAV20\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV20_POSITION: MAV20\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV20_EXTRA1: MAV20\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV20_EXTRA2: MAV20\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV20_EXTRA3: MAV20\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV20_PARAMS: MAV20\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV20_ADSB: MAV20\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV20_OPTIONS: MAV20\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV20_DEVID: MAV20\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV21: MAV21 Parameters ---------------- .. _MAV21_RAW_SENS: MAV21\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV21_EXT_STAT: MAV21\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV21_RC_CHAN: MAV21\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV21_RAW_CTRL: MAV21\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV21_POSITION: MAV21\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV21_EXTRA1: MAV21\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV21_EXTRA2: MAV21\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV21_EXTRA3: MAV21\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV21_PARAMS: MAV21\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV21_ADSB: MAV21\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV21_OPTIONS: MAV21\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV21_DEVID: MAV21\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV22: MAV22 Parameters ---------------- .. _MAV22_RAW_SENS: MAV22\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV22_EXT_STAT: MAV22\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV22_RC_CHAN: MAV22\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV22_RAW_CTRL: MAV22\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV22_POSITION: MAV22\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV22_EXTRA1: MAV22\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV22_EXTRA2: MAV22\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV22_EXTRA3: MAV22\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV22_PARAMS: MAV22\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV22_ADSB: MAV22\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV22_OPTIONS: MAV22\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV22_DEVID: MAV22\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV23: MAV23 Parameters ---------------- .. _MAV23_RAW_SENS: MAV23\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV23_EXT_STAT: MAV23\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV23_RC_CHAN: MAV23\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV23_RAW_CTRL: MAV23\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV23_POSITION: MAV23\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV23_EXTRA1: MAV23\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV23_EXTRA2: MAV23\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV23_EXTRA3: MAV23\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV23_PARAMS: MAV23\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV23_ADSB: MAV23\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV23_OPTIONS: MAV23\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV23_DEVID: MAV23\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV24: MAV24 Parameters ---------------- .. _MAV24_RAW_SENS: MAV24\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV24_EXT_STAT: MAV24\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV24_RC_CHAN: MAV24\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV24_RAW_CTRL: MAV24\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV24_POSITION: MAV24\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV24_EXTRA1: MAV24\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV24_EXTRA2: MAV24\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV24_EXTRA3: MAV24\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV24_PARAMS: MAV24\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV24_ADSB: MAV24\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV24_OPTIONS: MAV24\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV24_DEVID: MAV24\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV25: MAV25 Parameters ---------------- .. _MAV25_RAW_SENS: MAV25\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV25_EXT_STAT: MAV25\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV25_RC_CHAN: MAV25\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV25_RAW_CTRL: MAV25\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV25_POSITION: MAV25\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV25_EXTRA1: MAV25\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV25_EXTRA2: MAV25\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV25_EXTRA3: MAV25\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV25_PARAMS: MAV25\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV25_ADSB: MAV25\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV25_OPTIONS: MAV25\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV25_DEVID: MAV25\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV26: MAV26 Parameters ---------------- .. _MAV26_RAW_SENS: MAV26\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV26_EXT_STAT: MAV26\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV26_RC_CHAN: MAV26\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV26_RAW_CTRL: MAV26\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV26_POSITION: MAV26\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV26_EXTRA1: MAV26\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV26_EXTRA2: MAV26\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV26_EXTRA3: MAV26\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV26_PARAMS: MAV26\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV26_ADSB: MAV26\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV26_OPTIONS: MAV26\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV26_DEVID: MAV26\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV27: MAV27 Parameters ---------------- .. _MAV27_RAW_SENS: MAV27\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV27_EXT_STAT: MAV27\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV27_RC_CHAN: MAV27\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV27_RAW_CTRL: MAV27\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV27_POSITION: MAV27\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV27_EXTRA1: MAV27\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV27_EXTRA2: MAV27\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV27_EXTRA3: MAV27\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV27_PARAMS: MAV27\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV27_ADSB: MAV27\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV27_OPTIONS: MAV27\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV27_DEVID: MAV27\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV28: MAV28 Parameters ---------------- .. _MAV28_RAW_SENS: MAV28\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV28_EXT_STAT: MAV28\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV28_RC_CHAN: MAV28\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV28_RAW_CTRL: MAV28\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV28_POSITION: MAV28\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV28_EXTRA1: MAV28\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV28_EXTRA2: MAV28\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV28_EXTRA3: MAV28\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV28_PARAMS: MAV28\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV28_ADSB: MAV28\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV28_OPTIONS: MAV28\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV28_DEVID: MAV28\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV29: MAV29 Parameters ---------------- .. _MAV29_RAW_SENS: MAV29\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV29_EXT_STAT: MAV29\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV29_RC_CHAN: MAV29\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV29_RAW_CTRL: MAV29\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV29_POSITION: MAV29\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV29_EXTRA1: MAV29\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV29_EXTRA2: MAV29\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV29_EXTRA3: MAV29\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV29_PARAMS: MAV29\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV29_ADSB: MAV29\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV29_OPTIONS: MAV29\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV29_DEVID: MAV29\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV30: MAV30 Parameters ---------------- .. _MAV30_RAW_SENS: MAV30\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV30_EXT_STAT: MAV30\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV30_RC_CHAN: MAV30\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV30_RAW_CTRL: MAV30\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV30_POSITION: MAV30\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV30_EXTRA1: MAV30\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV30_EXTRA2: MAV30\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV30_EXTRA3: MAV30\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV30_PARAMS: MAV30\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV30_ADSB: MAV30\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV30_OPTIONS: MAV30\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV30_DEVID: MAV30\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV31: MAV31 Parameters ---------------- .. _MAV31_RAW_SENS: MAV31\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV31_EXT_STAT: MAV31\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV31_RC_CHAN: MAV31\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV31_RAW_CTRL: MAV31\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV31_POSITION: MAV31\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV31_EXTRA1: MAV31\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV31_EXTRA2: MAV31\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV31_EXTRA3: MAV31\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV31_PARAMS: MAV31\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV31_ADSB: MAV31\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV31_OPTIONS: MAV31\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV31_DEVID: MAV31\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MAV32: MAV32 Parameters ---------------- .. _MAV32_RAW_SENS: MAV32\_RAW\_SENS: Raw sensor stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV32_EXT_STAT: MAV32\_EXT\_STAT: Extended status stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV32_RC_CHAN: MAV32\_RC\_CHAN: RC Channel stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV32_RAW_CTRL: MAV32\_RAW\_CTRL: Raw Control stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Raw Control stream rate of SERVO\_OUT +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV32_POSITION: MAV32\_POSITION: Position stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV32_EXTRA1: MAV32\_EXTRA1: Extra data type 1 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV32_EXTRA2: MAV32\_EXTRA2: Extra data type 2 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of VFR\_HUD +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 50 | +-----------+---------+ .. _MAV32_EXTRA3: MAV32\_EXTRA3: Extra data type 3 stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV32_PARAMS: MAV32\_PARAMS: Parameter stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink Stream rate of PARAM\_VALUE +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV32_ADSB: MAV32\_ADSB: ADSB stream rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAVLink ADSB stream rate +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MAV32_OPTIONS: MAV32\_OPTIONS: Bitmask for configuring this telemetry channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Bitmask for configuring this telemetry channel\. For having effect on all channels\, set the relevant mask in all MAVx\_OPTIONS parameters\. Keep in mind that part of the flags may require a reboot to take action\. Unicast blocks forwarding of broadcasts to\/from this link\, but allows packets addressed to a learned system\/component pair\. A missing or zero target system or component is a broadcast\. Unicast sends heartbeat but does not start the normal telemetry streams\; devices can request messages with MAV\_CMD\_SET\_MESSAGE\_INTERVAL or MAV\_CMD\_REQUEST\_MESSAGE\. Local processing is unaffected\. +-----+---------------------------------------------+ | Bit | Meaning | +=====+=============================================+ | 0 | Accept unsigned MAVLink2 messages | +-----+---------------------------------------------+ | 1 | Don't forward mavlink to/from | +-----+---------------------------------------------+ | 2 | Ignore Streamrate | +-----+---------------------------------------------+ | 3 | forward mavlink packets that don't pass CRC | +-----+---------------------------------------------+ | 4 | Unicast | +-----+---------------------------------------------+ .. _MAV32_DEVID: MAV32\_DEVID: DeviceID ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ID of device using this MAVLink channel +--------+--------------------------+ | Value | Meaning | +========+==========================+ | 0 | Unknown | +--------+--------------------------+ | 65542 | SERIAL0 (USB on ChibiOS) | +--------+--------------------------+ | 65798 | SERIAL1 | +--------+--------------------------+ | 66054 | SERIAL2 | +--------+--------------------------+ | 66310 | SERIAL3 | +--------+--------------------------+ | 66566 | SERIAL4 | +--------+--------------------------+ | 66822 | SERIAL5 | +--------+--------------------------+ | 67078 | SERIAL6 | +--------+--------------------------+ | 67334 | SERIAL7 | +--------+--------------------------+ | 67590 | SERIAL8 | +--------+--------------------------+ | 67846 | SERIAL9 | +--------+--------------------------+ | 131078 | NET_P1 | +--------+--------------------------+ | 131334 | NET_P2 | +--------+--------------------------+ | 131590 | NET_P3 | +--------+--------------------------+ | 131846 | NET_P4 | +--------+--------------------------+ | 196614 | CAN_D1_UC_S1 | +--------+--------------------------+ | 196870 | CAN_D1_UC_S2 | +--------+--------------------------+ | 197126 | CAN_D1_UC_S3 | +--------+--------------------------+ | 196622 | CAN_D2_UC_S1 | +--------+--------------------------+ | 196878 | CAN_D2_UC_S2 | +--------+--------------------------+ | 197134 | CAN_D2_UC_S3 | +--------+--------------------------+ | 262150 | SCR_SDEV1 | +--------+--------------------------+ | 262406 | SCR_SDEV2 | +--------+--------------------------+ | 262662 | SCR_SDEV3 | +--------+--------------------------+ +----------+ | ReadOnly | +==========+ | True | +----------+ .. _parameters_MIS_: MIS\_ Parameters ---------------- .. _MIS_TOTAL: MIS\_TOTAL: Total mission commands ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. +-----------+------------+----------+ | Increment | Range | ReadOnly | +===========+============+==========+ | 1 | 0 to 32766 | True | +-----------+------------+----------+ .. _MIS_RESTART: MIS\_RESTART: Mission Restart when entering Auto mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* 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 | +-------+-----------------+ .. _MIS_OPTIONS: MIS\_OPTIONS: Mission options bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of what options to use in missions\. If the DontZeroCounter counter option is set than on completion of a jump loop the counter is left at zero\, so the jump will not happen again if the loop is re\-entered\. +-----+-------------------------+ | Bit | Meaning | +=====+=========================+ | 0 | Clear Mission on reboot | +-----+-------------------------+ .. _parameters_MNT1: MNT1 Parameters --------------- .. _MNT1_TYPE: MNT1\_TYPE: Mount Type ~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Mount Type +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | None | +-------+----------------------+ | 1 | Servo | +-------+----------------------+ | 2 | 3DR Solo | +-------+----------------------+ | 3 | Alexmos Serial | +-------+----------------------+ | 4 | SToRM32 MAVLink | +-------+----------------------+ | 5 | SToRM32 Serial | +-------+----------------------+ | 6 | MAVLink (Gremsy/AVT) | +-------+----------------------+ | 7 | BrushlessPWM | +-------+----------------------+ | 8 | Siyi | +-------+----------------------+ | 9 | Scripting | +-------+----------------------+ | 10 | Xacti | +-------+----------------------+ | 11 | Viewpro | +-------+----------------------+ | 12 | Topotek | +-------+----------------------+ | 13 | CADDX | +-------+----------------------+ | 14 | XFRobot | +-------+----------------------+ .. _MNT1_DEFLT_MODE: MNT1\_DEFLT\_MODE: Mount default operating mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount default operating mode on startup and after control is returned from autopilot +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Retracted | +-------+-------------------+ | 1 | Neutral | +-------+-------------------+ | 2 | MavLink Targeting | +-------+-------------------+ | 3 | RC Targeting | +-------+-------------------+ | 4 | GPS Point | +-------+-------------------+ | 5 | SysID Target | +-------+-------------------+ | 6 | Home Location | +-------+-------------------+ .. _MNT1_RC_RATE: MNT1\_RC\_RATE: Mount RC Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pilot rate control\'s maximum rate\. Set to zero to use angle control +-----------+---------+--------------------+ | Increment | Range | Units | +===========+=========+====================+ | 1 | 0 to 90 | degrees per second | +-----------+---------+--------------------+ .. _MNT1_ROLL_MIN: MNT1\_ROLL\_MIN: Mount Roll angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Roll angle minimum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT1_ROLL_MAX: MNT1\_ROLL\_MAX: Mount Roll angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Roll angle maximum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT1_PITCH_MIN: MNT1\_PITCH\_MIN: Mount Pitch angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Pitch angle minimum +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 1 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _MNT1_PITCH_MAX: MNT1\_PITCH\_MAX: Mount Pitch angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Pitch angle maximum +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 1 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _MNT1_YAW_MIN: MNT1\_YAW\_MIN: Mount Yaw angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Yaw angle minimum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT1_YAW_MAX: MNT1\_YAW\_MAX: Mount Yaw angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Yaw angle maximum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT1_RETRACT_X: MNT1\_RETRACT\_X: Mount roll angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount roll angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_RETRACT_Y: MNT1\_RETRACT\_Y: Mount pitch angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount pitch angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_RETRACT_Z: MNT1\_RETRACT\_Z: Mount yaw angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount yaw angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_NEUTRAL_X: MNT1\_NEUTRAL\_X: Mount roll angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount roll angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_NEUTRAL_Y: MNT1\_NEUTRAL\_Y: Mount pitch angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount pitch angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_NEUTRAL_Z: MNT1\_NEUTRAL\_Z: Mount yaw angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount yaw angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_LEAD_RLL: MNT1\_LEAD\_RLL: Mount Roll stabilization lead time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.005 | 0.0 to 0.2 | seconds | +-----------+------------+---------+ .. _MNT1_LEAD_PTCH: MNT1\_LEAD\_PTCH: Mount Pitch stabilization lead time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.005 | 0.0 to 0.2 | seconds | +-----------+------------+---------+ .. _MNT1_SYSID_DFLT: MNT1\_SYSID\_DFLT: Mount Target sysID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Default Target sysID for the mount to point to\. +-----------------+ | Range | +=================+ | 0 to 4294967295 | +-----------------+ .. _MNT1_DEVID: MNT1\_DEVID: Mount Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mount device ID\, taking into account its type\, bus and instance .. _MNT1_OPTIONS: MNT1\_OPTIONS: Mount options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount options bitmask\, note bit 2 only impacts RC targetting mode +-----+-----------------------------------------+ | Bit | Meaning | +=====+=========================================+ | 0 | RC lock state from previous mode | +-----+-----------------------------------------+ | 1 | Return to neutral angles on RC failsafe | +-----+-----------------------------------------+ | 2 | Force FPV (bf) lock on roll and pitch | +-----+-----------------------------------------+ .. _MNT1_ATT_RATE: MNT1\_ATT\_RATE: Vehicle attitude send rate to MAVLink gimbal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Rate at which AUTOPILOT\_STATE\_FOR\_GIMBAL\_DEVICE messages are sent to a MAVLink gimbal\. Zero disables these messages +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MNT1_TARG_RATE: MNT1\_TARG\_RATE: MAVLink gimbal target refresh rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Refresh rate for unchanged MAVLink gimbal targets\. Changed targets are sent immediately\. Zero disables target transmission +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _parameters_MNT2: MNT2 Parameters --------------- .. _MNT2_TYPE: MNT2\_TYPE: Mount Type ~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Mount Type +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | None | +-------+----------------------+ | 1 | Servo | +-------+----------------------+ | 2 | 3DR Solo | +-------+----------------------+ | 3 | Alexmos Serial | +-------+----------------------+ | 4 | SToRM32 MAVLink | +-------+----------------------+ | 5 | SToRM32 Serial | +-------+----------------------+ | 6 | MAVLink (Gremsy/AVT) | +-------+----------------------+ | 7 | BrushlessPWM | +-------+----------------------+ | 8 | Siyi | +-------+----------------------+ | 9 | Scripting | +-------+----------------------+ | 10 | Xacti | +-------+----------------------+ | 11 | Viewpro | +-------+----------------------+ | 12 | Topotek | +-------+----------------------+ | 13 | CADDX | +-------+----------------------+ | 14 | XFRobot | +-------+----------------------+ .. _MNT2_DEFLT_MODE: MNT2\_DEFLT\_MODE: Mount default operating mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount default operating mode on startup and after control is returned from autopilot +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Retracted | +-------+-------------------+ | 1 | Neutral | +-------+-------------------+ | 2 | MavLink Targeting | +-------+-------------------+ | 3 | RC Targeting | +-------+-------------------+ | 4 | GPS Point | +-------+-------------------+ | 5 | SysID Target | +-------+-------------------+ | 6 | Home Location | +-------+-------------------+ .. _MNT2_RC_RATE: MNT2\_RC\_RATE: Mount RC Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pilot rate control\'s maximum rate\. Set to zero to use angle control +-----------+---------+--------------------+ | Increment | Range | Units | +===========+=========+====================+ | 1 | 0 to 90 | degrees per second | +-----------+---------+--------------------+ .. _MNT2_ROLL_MIN: MNT2\_ROLL\_MIN: Mount Roll angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Roll angle minimum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT2_ROLL_MAX: MNT2\_ROLL\_MAX: Mount Roll angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Roll angle maximum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT2_PITCH_MIN: MNT2\_PITCH\_MIN: Mount Pitch angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Pitch angle minimum +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 1 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _MNT2_PITCH_MAX: MNT2\_PITCH\_MAX: Mount Pitch angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Pitch angle maximum +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 1 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _MNT2_YAW_MIN: MNT2\_YAW\_MIN: Mount Yaw angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Yaw angle minimum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT2_YAW_MAX: MNT2\_YAW\_MAX: Mount Yaw angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Yaw angle maximum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT2_RETRACT_X: MNT2\_RETRACT\_X: Mount roll angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount roll angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_RETRACT_Y: MNT2\_RETRACT\_Y: Mount pitch angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount pitch angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_RETRACT_Z: MNT2\_RETRACT\_Z: Mount yaw angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount yaw angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_NEUTRAL_X: MNT2\_NEUTRAL\_X: Mount roll angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount roll angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_NEUTRAL_Y: MNT2\_NEUTRAL\_Y: Mount pitch angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount pitch angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_NEUTRAL_Z: MNT2\_NEUTRAL\_Z: Mount yaw angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount yaw angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_LEAD_RLL: MNT2\_LEAD\_RLL: Mount Roll stabilization lead time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.005 | 0.0 to 0.2 | seconds | +-----------+------------+---------+ .. _MNT2_LEAD_PTCH: MNT2\_LEAD\_PTCH: Mount Pitch stabilization lead time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.005 | 0.0 to 0.2 | seconds | +-----------+------------+---------+ .. _MNT2_SYSID_DFLT: MNT2\_SYSID\_DFLT: Mount Target sysID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Default Target sysID for the mount to point to\. +-----------------+ | Range | +=================+ | 0 to 4294967295 | +-----------------+ .. _MNT2_DEVID: MNT2\_DEVID: Mount Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mount device ID\, taking into account its type\, bus and instance .. _MNT2_OPTIONS: MNT2\_OPTIONS: Mount options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount options bitmask\, note bit 2 only impacts RC targetting mode +-----+-----------------------------------------+ | Bit | Meaning | +=====+=========================================+ | 0 | RC lock state from previous mode | +-----+-----------------------------------------+ | 1 | Return to neutral angles on RC failsafe | +-----+-----------------------------------------+ | 2 | Force FPV (bf) lock on roll and pitch | +-----+-----------------------------------------+ .. _MNT2_ATT_RATE: MNT2\_ATT\_RATE: Vehicle attitude send rate to MAVLink gimbal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Rate at which AUTOPILOT\_STATE\_FOR\_GIMBAL\_DEVICE messages are sent to a MAVLink gimbal\. Zero disables these messages +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MNT2_TARG_RATE: MNT2\_TARG\_RATE: MAVLink gimbal target refresh rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Refresh rate for unchanged MAVLink gimbal targets\. Changed targets are sent immediately\. Zero disables target transmission +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _parameters_MOT_: MOT\_ Parameters ---------------- .. _MOT_PWM_TYPE: MOT\_PWM\_TYPE: Motor Output PWM type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This selects the output PWM type as regular PWM\, OneShot\, Brushed motor support using PWM \(duty cycle\) with separated direction signal\, Brushed motor support with separate throttle and direction PWM \(duty cycle\) +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Normal | +-------+------------------+ | 1 | OneShot | +-------+------------------+ | 2 | OneShot125 | +-------+------------------+ | 3 | BrushedWithRelay | +-------+------------------+ | 4 | BrushedBiPolar | +-------+------------------+ | 5 | DShot150 | +-------+------------------+ | 6 | DShot300 | +-------+------------------+ | 7 | DShot600 | +-------+------------------+ | 8 | DShot1200 | +-------+------------------+ .. _MOT_PWM_FREQ: MOT\_PWM\_FREQ: Motor Output PWM freq for brushed motors ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Motor Output PWM freq for brushed motors +-----------+---------+-----------+ | Increment | Range | Units | +===========+=========+===========+ | 1 | 1 to 20 | kilohertz | +-----------+---------+-----------+ .. _MOT_SAFE_DISARM: MOT\_SAFE\_DISARM: Motor PWM output disabled when disarmed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Disables motor PWM output when disarmed +-------+-----------------------------+ | Value | Meaning | +=======+=============================+ | 0 | PWM enabled while disarmed | +-------+-----------------------------+ | 1 | PWM disabled while disarmed | +-------+-----------------------------+ .. _MOT_THR_MIN: MOT\_THR\_MIN: Throttle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Throttle minimum percentage the autopilot will apply\. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions\. Must be less than MOT\_THR\_MAX\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 20 | percent | +-----------+---------+---------+ .. _MOT_THR_MAX: MOT\_THR\_MAX: Throttle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Throttle maximum percentage the autopilot will apply\. This can be used to prevent overheating an ESC or motor on an electric rover +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 5 to 100 | percent | +-----------+----------+---------+ .. _MOT_SLEWRATE: MOT\_SLEWRATE: Throttle slew rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Throttle slew rate as a percentage of total range per second\. A value of 100 allows the motor to change over its full range in one second\. A value of zero disables the limit\. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts\. +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 0 to 1000 | percent per second | +-----------+-----------+--------------------+ .. _MOT_THST_EXPO: MOT\_THST\_EXPO: Thrust Curve Expo ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Thrust curve exponent \(\-1 to \+1 with 0 being linear\) +-------------+ | Range | +=============+ | -1.0 to 1.0 | +-------------+ .. _MOT_SPD_SCA_BASE: MOT\_SPD\_SCA\_BASE: Motor speed scaling base speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Speed above which steering is scaled down when using regular steering\/throttle vehicles\. zero to disable speed scaling +---------+-------------------+ | Range | Units | +=========+===================+ | 0 to 10 | meters per second | +---------+-------------------+ .. _MOT_STR_THR_MIX: MOT\_STR\_THR\_MIX: Motor steering vs throttle prioritisation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Steering vs Throttle priorisation\. Higher numbers prioritise steering\, lower numbers prioritise throttle\. Only valid for Skid Steering vehicles +------------+ | Range | +============+ | 0.2 to 1.0 | +------------+ .. _MOT_VEC_ANGLEMAX: MOT\_VEC\_ANGLEMAX: Vector thrust angle max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The angle between steering\'s middle position and maximum position when using vectored thrust \(boats only\) +---------+---------+ | Range | Units | +=========+=========+ | 0 to 90 | degrees | +---------+---------+ .. _MOT_THST_ASYM: MOT\_THST\_ASYM: Motor Thrust Asymmetry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Thrust Asymmetry\. Used for skid\-steering\. 2\.0 means your motors move twice as fast forward than they do backwards\. +-------------+ | Range | +=============+ | 1.0 to 10.0 | +-------------+ .. _MOT_REV_DELAY: MOT\_REV\_DELAY: Motor reversal delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ For reversible motors that need a delay before they can change direction\. When greater than zero the throttle will go to zero for this amount of time before outputting the new throttle when the demanded motor direction changes\. +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.1 | 0.1 to 1.0 | seconds | +-----------+------------+---------+ .. _MOT_BAT_WATT_TC: MOT\_BAT\_WATT\_TC: Battery power limiting time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time constant used to limit the smooth power throttling\. +---------+---------+ | Range | Units | +=========+=========+ | 0 to 10 | seconds | +---------+---------+ .. _parameters_MSP: MSP Parameters -------------- .. _MSP_OSD_NCELLS: MSP\_OSD\_NCELLS: Cell count override ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Used for average cell voltage calculation +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Auto | +-------+---------+ | 1 | 1 | +-------+---------+ | 2 | 2 | +-------+---------+ | 3 | 3 | +-------+---------+ | 4 | 4 | +-------+---------+ | 5 | 5 | +-------+---------+ | 6 | 6 | +-------+---------+ | 7 | 7 | +-------+---------+ | 8 | 8 | +-------+---------+ | 9 | 9 | +-------+---------+ | 10 | 10 | +-------+---------+ | 11 | 11 | +-------+---------+ | 12 | 12 | +-------+---------+ | 13 | 13 | +-------+---------+ | 14 | 14 | +-------+---------+ .. _MSP_OPTIONS: MSP\_OPTIONS: MSP OSD Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ A bitmask to set some MSP specific options\: EnableTelemetryMode\-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot\, EnableBTFLFonts\-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts\. EnableINAVFonts uses INAV fonts and overrides EnableBTFLFonts if that option is enabled\. ForceVTXHighPower always reports the vehicle as armed so a VTX that drops to low power when disarmed stays at full power\. +-----+---------------------+ | Bit | Meaning | +=====+=====================+ | 0 | EnableTelemetryMode | +-----+---------------------+ | 1 | unused | +-----+---------------------+ | 2 | EnableBTFLFonts | +-----+---------------------+ | 3 | EnableINAVFonts | +-----+---------------------+ | 4 | ForceVTXHighPower | +-----+---------------------+ .. _parameters_NET_: NET\_ Parameters ---------------- .. _NET_ENABLE: NET\_ENABLE: Networking Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networking Enable +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _NET_NETMASK: NET\_NETMASK: IP Subnet mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Allows setting static subnet mask\. The value is a count of consecutive bits\. Examples\: 24 \= 255\.255\.255\.0\, 16 \= 255\.255\.0\.0 +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _NET_DHCP: NET\_DHCP: DHCP client ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable\/Disable DHCP client +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _NET_TESTS: NET\_TESTS: Test enable flags ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable\/Disable networking tests +-----+------------------+ | Bit | Meaning | +=====+==================+ | 0 | UDP echo test | +-----+------------------+ | 1 | TCP echo test | +-----+------------------+ | 2 | TCP discard test | +-----+------------------+ | 3 | TCP reflect test | +-----+------------------+ .. _NET_OPTIONS: NET\_OPTIONS: Networking options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networking options +-----+--------------------------------+ | Bit | Meaning | +=====+================================+ | 0 | EnablePPP Ethernet gateway | +-----+--------------------------------+ | 1 | Enable CAN1 multicast endpoint | +-----+--------------------------------+ | 2 | Enable CAN2 multicast endpoint | +-----+--------------------------------+ | 3 | Enable CAN1 multicast bridged | +-----+--------------------------------+ | 4 | Enable CAN2 multicast bridged | +-----+--------------------------------+ | 5 | DisablePPPTimeout | +-----+--------------------------------+ | 6 | DisablePPPEchoLimit | +-----+--------------------------------+ | 7 | Capture to file | +-----+--------------------------------+ .. _parameters_NET_GWADDR: NET\_GWADDR Parameters ---------------------- .. _NET_GWADDR0: NET\_GWADDR0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_GWADDR1: NET\_GWADDR1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_GWADDR2: NET\_GWADDR2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_GWADDR3: NET\_GWADDR3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_IPADDR: NET\_IPADDR Parameters ---------------------- .. _NET_IPADDR0: NET\_IPADDR0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_IPADDR1: NET\_IPADDR1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_IPADDR2: NET\_IPADDR2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_IPADDR3: NET\_IPADDR3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_MACADDR: NET\_MACADDR Parameters ----------------------- .. _NET_MACADDR0: NET\_MACADDR0: MAC Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAC address 1st byte +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_MACADDR1: NET\_MACADDR1: MAC Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAC address 2nd byte +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_MACADDR2: NET\_MACADDR2: MAC Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAC address 3rd byte +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_MACADDR3: NET\_MACADDR3: MAC Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAC address 4th byte +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_MACADDR4: NET\_MACADDR4: MAC Address 5th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAC address 5th byte +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_MACADDR5: NET\_MACADDR5: MAC Address 6th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* MAC address 6th byte +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_P1_: NET\_P1\_ Parameters -------------------- .. _NET_P1_TYPE: NET\_P1\_TYPE: Port type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Disabled | +-------+------------+ | 1 | UDP client | +-------+------------+ | 2 | UDP server | +-------+------------+ | 3 | TCP client | +-------+------------+ | 4 | TCP server | +-------+------------+ .. _NET_P1_PROTOCOL: NET\_P1\_PROTOCOL: Protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networked serial port protocol +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _NET_P1_PORT: NET\_P1\_PORT: Port number ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port number +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_NET_P1_IP: NET\_P1\_IP Parameters ---------------------- .. _NET_P1_IP0: NET\_P1\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P1_IP1: NET\_P1\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P1_IP2: NET\_P1\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P1_IP3: NET\_P1\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_P2_: NET\_P2\_ Parameters -------------------- .. _NET_P2_TYPE: NET\_P2\_TYPE: Port type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Disabled | +-------+------------+ | 1 | UDP client | +-------+------------+ | 2 | UDP server | +-------+------------+ | 3 | TCP client | +-------+------------+ | 4 | TCP server | +-------+------------+ .. _NET_P2_PROTOCOL: NET\_P2\_PROTOCOL: Protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networked serial port protocol +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _NET_P2_PORT: NET\_P2\_PORT: Port number ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port number +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_NET_P2_IP: NET\_P2\_IP Parameters ---------------------- .. _NET_P2_IP0: NET\_P2\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P2_IP1: NET\_P2\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P2_IP2: NET\_P2\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P2_IP3: NET\_P2\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_P3_: NET\_P3\_ Parameters -------------------- .. _NET_P3_TYPE: NET\_P3\_TYPE: Port type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Disabled | +-------+------------+ | 1 | UDP client | +-------+------------+ | 2 | UDP server | +-------+------------+ | 3 | TCP client | +-------+------------+ | 4 | TCP server | +-------+------------+ .. _NET_P3_PROTOCOL: NET\_P3\_PROTOCOL: Protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networked serial port protocol +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _NET_P3_PORT: NET\_P3\_PORT: Port number ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port number +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_NET_P3_IP: NET\_P3\_IP Parameters ---------------------- .. _NET_P3_IP0: NET\_P3\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P3_IP1: NET\_P3\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P3_IP2: NET\_P3\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P3_IP3: NET\_P3\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_P4_: NET\_P4\_ Parameters -------------------- .. _NET_P4_TYPE: NET\_P4\_TYPE: Port type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Disabled | +-------+------------+ | 1 | UDP client | +-------+------------+ | 2 | UDP server | +-------+------------+ | 3 | TCP client | +-------+------------+ | 4 | TCP server | +-------+------------+ .. _NET_P4_PROTOCOL: NET\_P4\_PROTOCOL: Protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networked serial port protocol +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _NET_P4_PORT: NET\_P4\_PORT: Port number ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port number +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_NET_P4_IP: NET\_P4\_IP Parameters ---------------------- .. _NET_P4_IP0: NET\_P4\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P4_IP1: NET\_P4\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P4_IP2: NET\_P4\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P4_IP3: NET\_P4\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_REMPPP_IP: NET\_REMPPP\_IP Parameters -------------------------- .. _NET_REMPPP_IP0: NET\_REMPPP\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_REMPPP_IP1: NET\_REMPPP\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_REMPPP_IP2: NET\_REMPPP\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_REMPPP_IP3: NET\_REMPPP\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_TEST_IP: NET\_TEST\_IP Parameters ------------------------ .. _NET_TEST_IP0: NET\_TEST\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_TEST_IP1: NET\_TEST\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_TEST_IP2: NET\_TEST\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_TEST_IP3: NET\_TEST\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NMEA_: NMEA\_ Parameters ----------------- .. _NMEA_RATE_MS: NMEA\_RATE\_MS: NMEA Output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ NMEA Output rate\. This controls the interval at which all the enabled NMEA messages are sent\. Most NMEA systems expect 100ms \(10Hz\) or slower\. +-----------+------------+--------------+ | Increment | Range | Units | +===========+============+==============+ | 1 | 20 to 2000 | milliseconds | +-----------+------------+--------------+ .. _NMEA_MSG_EN: NMEA\_MSG\_EN: Messages Enable bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is a bitmask of enabled NMEA messages\. All messages will be sent consecutively at the same rate interval +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | GPGGA | +-----+---------+ | 1 | GPRMC | +-----+---------+ | 2 | PASHR | +-----+---------+ .. _parameters_NTF_: NTF\_ Parameters ---------------- .. _NTF_LED_BRIGHT: NTF\_LED\_BRIGHT: LED Brightness ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Select the RGB LED brightness level\. When USB is connected brightness will never be higher than low regardless of the setting\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Off | +-------+---------+ | 1 | Low | +-------+---------+ | 2 | Medium | +-------+---------+ | 3 | High | +-------+---------+ .. _NTF_BUZZ_TYPES: NTF\_BUZZ\_TYPES: Buzzer Driver Types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls what types of Buzzer will be enabled +-----+-----------------+ | Bit | Meaning | +=====+=================+ | 0 | Built-in buzzer | +-----+-----------------+ | 1 | DShot | +-----+-----------------+ | 2 | DroneCAN | +-----+-----------------+ .. _NTF_LED_OVERRIDE: NTF\_LED\_OVERRIDE: Specifies colour source for the RGBLed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the source for the colours and brightness for the LED\. OutbackChallenge conforms to the MedicalExpress \(https\:\/\/uavchallenge\.org\/medical\-express\/\) rules\, essentially \"Green\" is disarmed \(safe\-to\-approach\)\, \"Red\" is armed \(not safe\-to\-approach\)\. Traffic light is a simplified color set\, red when armed\, yellow when the safety switch is not surpressing outputs \(but disarmed\)\, and green when outputs are surpressed and disarmed\, the LED will blink faster if disarmed and failing arming checks\. +-------+-----------------------------+ | Value | Meaning | +=======+=============================+ | 0 | Standard | +-------+-----------------------------+ | 1 | MAVLink/Scripting/AP_Periph | +-------+-----------------------------+ | 2 | OutbackChallenge | +-------+-----------------------------+ | 3 | TrafficLight | +-------+-----------------------------+ .. _NTF_DISPLAY_TYPE: NTF\_DISPLAY\_TYPE: Type of on\-board I2C display ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets up the type of on\-board I2C display\. Disabled by default\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | ssd1306 | +-------+---------+ | 2 | sh1106 | +-------+---------+ | 10 | SITL | +-------+---------+ .. _NTF_OREO_THEME: NTF\_OREO\_THEME: OreoLED Theme ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable\/Disable Solo Oreo LED driver\, 0 to disable\, 1 for Aircraft theme\, 2 for Rover theme +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Aircraft | +-------+----------+ | 2 | Rover | +-------+----------+ .. _NTF_BUZZ_PIN: NTF\_BUZZ\_PIN: Buzzer pin ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enables to connect active buzzer to arbitrary pin\. Requires 3\-pin buzzer or additional MOSFET\! Some the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ .. _NTF_LED_TYPES: NTF\_LED\_TYPES: LED Driver Types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls what types of LEDs will be enabled +-----+---------------------+ | Bit | Meaning | +=====+=====================+ | 0 | Built-in LED | +-----+---------------------+ | 1 | Internal ToshibaLED | +-----+---------------------+ | 2 | External ToshibaLED | +-----+---------------------+ | 3 | External PCA9685 | +-----+---------------------+ | 4 | Oreo LED | +-----+---------------------+ | 5 | DroneCAN | +-----+---------------------+ | 6 | NCP5623 External | +-----+---------------------+ | 7 | NCP5623 Internal | +-----+---------------------+ | 8 | NeoPixel | +-----+---------------------+ | 9 | ProfiLED | +-----+---------------------+ | 10 | Scripting | +-----+---------------------+ | 11 | DShot | +-----+---------------------+ | 12 | ProfiLED_SPI | +-----+---------------------+ | 13 | LP5562 External | +-----+---------------------+ | 14 | LP5562 Internal | +-----+---------------------+ | 15 | IS31FL3195 External | +-----+---------------------+ | 16 | IS31FL3195 Internal | +-----+---------------------+ | 17 | DiscreteRGB | +-----+---------------------+ | 18 | NeoPixelRGB | +-----+---------------------+ | 19 | ProfiLED_IOMCU | +-----+---------------------+ .. _NTF_BUZZ_ON_LVL: NTF\_BUZZ\_ON\_LVL: Buzzer\-on pin logic level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies pin level that indicates buzzer should play +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | LowIsOn | +-------+----------+ | 1 | HighIsOn | +-------+----------+ .. _NTF_BUZZ_VOLUME: NTF\_BUZZ\_VOLUME: Buzzer volume ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control the volume of the buzzer +----------+---------+ | Range | Units | +==========+=========+ | 0 to 100 | percent | +----------+---------+ .. _NTF_LED_LEN: NTF\_LED\_LEN: Serial LED String Length ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The number of Serial LED\'s to use for notifications \(NeoPixel\'s and ProfiLED\) +---------+ | Range | +=========+ | 1 to 32 | +---------+ .. _parameters_OA_: OA\_ Parameters --------------- .. _OA_TYPE: OA\_TYPE: Object Avoidance Path Planning algorithm to use ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enabled\/disable path planning around obstacles +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | 0 | Disabled | +-------+--------------------------+ | 1 | BendyRuler | +-------+--------------------------+ | 2 | Dijkstra | +-------+--------------------------+ | 3 | Dijkstra with BendyRuler | +-------+--------------------------+ .. _OA_MARGIN_MAX: OA\_MARGIN\_MAX: Object Avoidance wide margin distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in meters that the vehicle will try to stay away from obstacles and fences\. BendyRuler only accepts a candidate path whose clearance exceeds this\, and Dijkstra uses it as the margin held from fences\. This is not a detection range\: use OA\_BR\_LOOKAHEAD to limit how far ahead BendyRuler looks for obstacles\. +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 1 | 0.1 to 100 | meters | +-----------+------------+--------+ .. _OA_OPTIONS: OA\_OPTIONS: Options while recovering from Object Avoidance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance \(i\.e Avoidance is turned off after the path ahead is clear\)\. +-----+----------------------------------------------------------+ | Bit | Meaning | +=====+==========================================================+ | 0 | Reset the origin of the waypoint to the present location | +-----+----------------------------------------------------------+ | 1 | log Dijkstra points | +-----+----------------------------------------------------------+ .. _parameters_OA_BR_: OA\_BR\_ Parameters ------------------- .. _OA_BR_LOOKAHEAD: OA\_BR\_LOOKAHEAD: Object Avoidance look ahead distance maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Object Avoidance will look this many meters ahead of vehicle +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 1 to 100 | meters | +-----------+----------+--------+ .. _OA_BR_CONT_RATIO: OA\_BR\_CONT\_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle \(or fence\) to present calculated margin is atleast this much\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.1 | 1.1 to 2 | +-----------+----------+ .. _OA_BR_CONT_ANGLE: OA\_BR\_CONT\_ANGLE: BendyRuler\'s bearing change resistance threshold angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ BendyRuler will resist changing current bearing if the change in bearing is over this angle +-----------+-----------+ | Increment | Range | +===========+===========+ | 5 | 20 to 180 | +-----------+-----------+ .. _parameters_OA_DB_: OA\_DB\_ Parameters ------------------- .. _OA_DB_SIZE: OA\_DB\_SIZE: OADatabase maximum number of points ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* OADatabase maximum number of points\. Set to 0 to disable the OA Database\. Larger means more points but is more cpu intensive to process +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _OA_DB_EXPIRE: OA\_DB\_EXPIRE: OADatabase item timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* OADatabase item timeout\. The time an item will linger without any updates before it expires\. Zero means never expires which is useful for a sent\-once static environment but terrible for dynamic ones\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 500 | seconds | +-----------+----------+---------+ .. _OA_DB_QUEUE_SIZE: OA\_DB\_QUEUE\_SIZE: OADatabase queue maximum number of points ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* OADatabase queue maximum number of points\. This in an input buffer size\. Larger means it can handle larger bursts of incoming data points to filter into the database\. No impact on cpu\, only RAM\. Recommend larger for faster datalinks or for sensors that generate a lot of data\. +----------+ | Range | +==========+ | 1 to 200 | +----------+ .. _OA_DB_OUTPUT: OA\_DB\_OUTPUT: OADatabase output level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* OADatabase output level to configure which database objects are sent to the ground station\. All data is always available internally for avoidance algorithms\. +-------+---------------------------------------+ | Value | Meaning | +=======+=======================================+ | 0 | Disabled | +-------+---------------------------------------+ | 1 | Send only HIGH importance items | +-------+---------------------------------------+ | 2 | Send HIGH and NORMAL importance items | +-------+---------------------------------------+ | 3 | Send all items | +-------+---------------------------------------+ .. _OA_DB_BEAM_WIDTH: OA\_DB\_BEAM\_WIDTH: OADatabase beam width ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Beam width of incoming lidar data\, used to calculate a object radius if none is provided by the data source\. +---------+---------+ | Range | Units | +=========+=========+ | 1 to 10 | degrees | +---------+---------+ .. _OA_DB_RADIUS_MIN: OA\_DB\_RADIUS\_MIN: OADatabase Minimum radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum radius of objects held in database +---------+--------+ | Range | Units | +=========+========+ | 0 to 10 | meters | +---------+--------+ .. _OA_DB_DIST_MAX: OA\_DB\_DIST\_MAX: OADatabase Distance Maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum distance of objects held in database\. Set to zero to disable the limits +---------+--------+ | Range | Units | +=========+========+ | 0 to 10 | meters | +---------+--------+ .. _parameters_OSD: OSD Parameters -------------- .. _OSD_TYPE: OSD\_TYPE: OSD type ~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* OSD type\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. +-------+-----------------+ | Value | Meaning | +=======+=================+ | 0 | None | +-------+-----------------+ | 1 | MAX7456 | +-------+-----------------+ | 2 | SITL | +-------+-----------------+ | 3 | MSP | +-------+-----------------+ | 4 | TXONLY | +-------+-----------------+ | 5 | MSP_DISPLAYPORT | +-------+-----------------+ .. _OSD_CHAN: OSD\_CHAN: Screen switch transmitter channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the channel used to switch different OSD screens\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 5 | Chan5 | +-------+---------+ | 6 | Chan6 | +-------+---------+ | 7 | Chan7 | +-------+---------+ | 8 | Chan8 | +-------+---------+ | 9 | Chan9 | +-------+---------+ | 10 | Chan10 | +-------+---------+ | 11 | Chan11 | +-------+---------+ | 12 | Chan12 | +-------+---------+ | 13 | Chan13 | +-------+---------+ | 14 | Chan14 | +-------+---------+ | 15 | Chan15 | +-------+---------+ | 16 | Chan16 | +-------+---------+ .. _OSD_SW_METHOD: OSD\_SW\_METHOD: Screen switch method ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the method used to switch different OSD screens\. +-------+---------------------------------------------------------------------------------------------+ | Value | Meaning | +=======+=============================================================================================+ | 0 | switch to next screen if channel value was changed | +-------+---------------------------------------------------------------------------------------------+ | 1 | select screen based on pwm ranges specified for each screen | +-------+---------------------------------------------------------------------------------------------+ | 2 | switch to next screen after low to high transition and every 1s while channel value is high | +-------+---------------------------------------------------------------------------------------------+ .. _OSD_OPTIONS: OSD\_OPTIONS: OSD Options ~~~~~~~~~~~~~~~~~~~~~~~~~ This sets options that change the display +-----+----------------------------------------------------+ | Bit | Meaning | +=====+====================================================+ | 0 | UseDecimalPack | +-----+----------------------------------------------------+ | 1 | InvertedWindArrow | +-----+----------------------------------------------------+ | 2 | InvertedAHRoll | +-----+----------------------------------------------------+ | 3 | Convert feet to miles at 5280ft instead of 10000ft | +-----+----------------------------------------------------+ | 4 | DisableCrosshair | +-----+----------------------------------------------------+ | 5 | TranslateArrows | +-----+----------------------------------------------------+ | 6 | AviationStyleAH | +-----+----------------------------------------------------+ | 7 | Prefix LQ with RF Mode | +-----+----------------------------------------------------+ .. _OSD_FONT: OSD\_FONT: OSD Font ~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This sets which OSD font to use\. It is an integer from 0 to the number of fonts available .. _OSD_V_OFFSET: OSD\_V\_OFFSET: OSD vertical offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets vertical offset of the osd inside image +---------+ | Range | +=========+ | 0 to 31 | +---------+ .. _OSD_H_OFFSET: OSD\_H\_OFFSET: OSD horizontal offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets horizontal offset of the osd inside image +---------+ | Range | +=========+ | 0 to 63 | +---------+ .. _OSD_W_RSSI: OSD\_W\_RSSI: RSSI warn level \(in \%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which RSSI item will flash \(in positive \% or negative dBm values as applicable\)\. 30\% or \-100dBm are defaults\. +-------------+ | Range | +=============+ | -128 to 100 | +-------------+ .. _OSD_W_NSAT: OSD\_W\_NSAT: NSAT warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which NSAT item will flash +---------+ | Range | +=========+ | 1 to 30 | +---------+ .. _OSD_W_BATVOLT: OSD\_W\_BATVOLT: BAT\_VOLT warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which BAT\_VOLT item will flash +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_UNITS: OSD\_UNITS: Display Units ~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the units to use in displaying items +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Metric | +-------+----------+ | 1 | Imperial | +-------+----------+ | 2 | SI | +-------+----------+ | 3 | Aviation | +-------+----------+ .. _OSD_MSG_TIME: OSD\_MSG\_TIME: Message display duration in seconds ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets message duration seconds +---------+ | Range | +=========+ | 1 to 20 | +---------+ .. _OSD_ARM_SCR: OSD\_ARM\_SCR: Arm screen ~~~~~~~~~~~~~~~~~~~~~~~~~ Screen to be shown on Arm event\. Zero to disable the feature\. +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _OSD_DSARM_SCR: OSD\_DSARM\_SCR: Disarm screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Screen to be shown on disarm event\. Zero to disable the feature\. +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _OSD_FS_SCR: OSD\_FS\_SCR: Failsafe screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Screen to be shown on failsafe event\. Zero to disable the feature\. +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _OSD_BTN_DELAY: OSD\_BTN\_DELAY: Button delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Debounce time in ms for stick commanded parameter navigation\. +-----------+ | Range | +===========+ | 0 to 3000 | +-----------+ .. _OSD_W_TERR: OSD\_W\_TERR: Terrain warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level below which TER\_HGT item will flash\. \-1 disables\. +------------+--------+ | Range | Units | +============+========+ | -1 to 3000 | meters | +------------+--------+ .. _OSD_W_AVGCELLV: OSD\_W\_AVGCELLV: AVGCELLV warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which AVGCELLV item will flash +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_CELL_COUNT: OSD\_CELL\_COUNT: Battery cell count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used for average cell voltage display\. \-1 disables\, 0 uses cell count autodetection for well charged LIPO\/LIION batteries at connection\, other values manually select cell count used\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _OSD_W_RESTVOLT: OSD\_W\_RESTVOLT: RESTVOLT warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which RESTVOLT item will flash +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_W_ACRVOLT: OSD\_W\_ACRVOLT: Avg Cell Resting Volt warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which ACRVOLT item will flash +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_W_LQ: OSD\_W\_LQ: RC link quality warn level \(in \%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which RC\_LQ item will flash \(\%\) +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_W_SNR: OSD\_W\_SNR: RC link SNR warn level \(in \%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which RC\_SNR item will flash \(in db\) +-----------+ | Range | +===========+ | -20 to 10 | +-----------+ .. _OSD_SB_H_OFS: OSD\_SB\_H\_OFS: Sidebar horizontal offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Extends the spacing between the sidebar elements by this amount of columns\. Positive values increases the width to the right of the screen\. +---------+ | Range | +=========+ | 0 to 20 | +---------+ .. _OSD_SB_V_EXT: OSD\_SB\_V\_EXT: Sidebar vertical extension ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increase of vertical length of the sidebar itens by this amount of lines\. Applied equally both above and below the default setting\. +---------+ | Range | +=========+ | 0 to 10 | +---------+ .. _OSD_TYPE2: OSD\_TYPE2: OSD type 2 ~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* OSD type 2\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. +-------+-----------------+ | Value | Meaning | +=======+=================+ | 0 | None | +-------+-----------------+ | 1 | MAX7456 | +-------+-----------------+ | 2 | SITL | +-------+-----------------+ | 3 | MSP | +-------+-----------------+ | 4 | TXONLY | +-------+-----------------+ | 5 | MSP_DISPLAYPORT | +-------+-----------------+ .. _parameters_OSD1_: OSD1\_ Parameters ----------------- .. _OSD1_ENABLE: OSD1\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_CHAN_MIN: OSD1\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD1_CHAN_MAX: OSD1\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD1_ALTITUDE_EN: OSD1\_ALTITUDE\_EN: ALTITUDE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of altitude AGL +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ALTITUDE_X: OSD1\_ALTITUDE\_X: ALTITUDE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ALTITUDE_Y: OSD1\_ALTITUDE\_Y: ALTITUDE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BAT_VOLT_EN: OSD1\_BAT\_VOLT\_EN: BATVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_BAT_VOLT_X: OSD1\_BAT\_VOLT\_X: BATVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BAT_VOLT_Y: OSD1\_BAT\_VOLT\_Y: BATVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RSSI_EN: OSD1\_RSSI\_EN: RSSI\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC signal strength +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_RSSI_X: OSD1\_RSSI\_X: RSSI\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RSSI_Y: OSD1\_RSSI\_Y: RSSI\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CURRENT_EN: OSD1\_CURRENT\_EN: CURRENT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery current +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_CURRENT_X: OSD1\_CURRENT\_X: CURRENT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CURRENT_Y: OSD1\_CURRENT\_Y: CURRENT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BATUSED_EN: OSD1\_BATUSED\_EN: BATUSED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays primary battery mAh consumed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_BATUSED_X: OSD1\_BATUSED\_X: BATUSED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BATUSED_Y: OSD1\_BATUSED\_Y: BATUSED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_SATS_EN: OSD1\_SATS\_EN: SATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays number of acquired satellites +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_SATS_X: OSD1\_SATS\_X: SATS\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_SATS_Y: OSD1\_SATS\_Y: SATS\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_FLTMODE_EN: OSD1\_FLTMODE\_EN: FLTMODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight mode +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_FLTMODE_X: OSD1\_FLTMODE\_X: FLTMODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_FLTMODE_Y: OSD1\_FLTMODE\_Y: FLTMODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_MESSAGE_EN: OSD1\_MESSAGE\_EN: MESSAGE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Mavlink messages +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_MESSAGE_X: OSD1\_MESSAGE\_X: MESSAGE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_MESSAGE_Y: OSD1\_MESSAGE\_Y: MESSAGE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_GSPEED_EN: OSD1\_GSPEED\_EN: GSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS ground speed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_GSPEED_X: OSD1\_GSPEED\_X: GSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_GSPEED_Y: OSD1\_GSPEED\_Y: GSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HORIZON_EN: OSD1\_HORIZON\_EN: HORIZON\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_HORIZON_X: OSD1\_HORIZON\_X: HORIZON\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HORIZON_Y: OSD1\_HORIZON\_Y: HORIZON\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HOME_EN: OSD1\_HOME\_EN: HOME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance and relative direction to HOME +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_HOME_X: OSD1\_HOME\_X: HOME\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HOME_Y: OSD1\_HOME\_Y: HOME\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HEADING_EN: OSD1\_HEADING\_EN: HEADING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays heading +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_HEADING_X: OSD1\_HEADING\_X: HEADING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HEADING_Y: OSD1\_HEADING\_Y: HEADING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_THROTTLE_EN: OSD1\_THROTTLE\_EN: THROTTLE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays actual throttle percentage being sent to motor\(s\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_THROTTLE_X: OSD1\_THROTTLE\_X: THROTTLE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_THROTTLE_Y: OSD1\_THROTTLE\_Y: THROTTLE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_COMPASS_EN: OSD1\_COMPASS\_EN: COMPASS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of compass rose +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_COMPASS_X: OSD1\_COMPASS\_X: COMPASS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_COMPASS_Y: OSD1\_COMPASS\_Y: COMPASS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_WIND_EN: OSD1\_WIND\_EN: WIND\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_WIND_X: OSD1\_WIND\_X: WIND\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_WIND_Y: OSD1\_WIND\_Y: WIND\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ASPEED_EN: OSD1\_ASPEED\_EN: ASPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed value being used by TECS \(fused value\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ASPEED_X: OSD1\_ASPEED\_X: ASPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ASPEED_Y: OSD1\_ASPEED\_Y: ASPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_VSPEED_EN: OSD1\_VSPEED\_EN: VSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb rate +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_VSPEED_X: OSD1\_VSPEED\_X: VSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_VSPEED_Y: OSD1\_VSPEED\_Y: VSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ESCTEMP_EN: OSD1\_ESCTEMP\_EN: ESCTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ESCTEMP_X: OSD1\_ESCTEMP\_X: ESCTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ESCTEMP_Y: OSD1\_ESCTEMP\_Y: ESCTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ESCRPM_EN: OSD1\_ESCRPM\_EN: ESCRPM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ESCRPM_X: OSD1\_ESCRPM\_X: ESCRPM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ESCRPM_Y: OSD1\_ESCRPM\_Y: ESCRPM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ESCAMPS_EN: OSD1\_ESCAMPS\_EN: ESCAMPS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ESCAMPS_X: OSD1\_ESCAMPS\_X: ESCAMPS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ESCAMPS_Y: OSD1\_ESCAMPS\_Y: ESCAMPS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_GPSLAT_EN: OSD1\_GPSLAT\_EN: GPSLAT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS latitude +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_GPSLAT_X: OSD1\_GPSLAT\_X: GPSLAT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_GPSLAT_Y: OSD1\_GPSLAT\_Y: GPSLAT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_GPSLONG_EN: OSD1\_GPSLONG\_EN: GPSLONG\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS longitude +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_GPSLONG_X: OSD1\_GPSLONG\_X: GPSLONG\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_GPSLONG_Y: OSD1\_GPSLONG\_Y: GPSLONG\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ROLL_EN: OSD1\_ROLL\_EN: ROLL\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of roll from level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ROLL_X: OSD1\_ROLL\_X: ROLL\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ROLL_Y: OSD1\_ROLL\_Y: ROLL\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_PITCH_EN: OSD1\_PITCH\_EN: PITCH\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of pitch from level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_PITCH_X: OSD1\_PITCH\_X: PITCH\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_PITCH_Y: OSD1\_PITCH\_Y: PITCH\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_TEMP_EN: OSD1\_TEMP\_EN: TEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary barometer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_TEMP_X: OSD1\_TEMP\_X: TEMP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_TEMP_Y: OSD1\_TEMP\_Y: TEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HDOP_EN: OSD1\_HDOP\_EN: HDOP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays Horizontal Dilution Of Position +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_HDOP_X: OSD1\_HDOP\_X: HDOP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HDOP_Y: OSD1\_HDOP\_Y: HDOP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_WAYPOINT_EN: OSD1\_WAYPOINT\_EN: WAYPOINT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays bearing and distance to next waypoint +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_WAYPOINT_X: OSD1\_WAYPOINT\_X: WAYPOINT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_WAYPOINT_Y: OSD1\_WAYPOINT\_Y: WAYPOINT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_XTRACK_EN: OSD1\_XTRACK\_EN: XTRACK\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays crosstrack error +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_XTRACK_X: OSD1\_XTRACK\_X: XTRACK\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_XTRACK_Y: OSD1\_XTRACK\_Y: XTRACK\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_DIST_EN: OSD1\_DIST\_EN: DIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays total distance flown +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_DIST_X: OSD1\_DIST\_X: DIST\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_DIST_Y: OSD1\_DIST\_Y: DIST\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_STATS_EN: OSD1\_STATS\_EN: STATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight stats +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_STATS_X: OSD1\_STATS\_X: STATS\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_STATS_Y: OSD1\_STATS\_Y: STATS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_FLTIME_EN: OSD1\_FLTIME\_EN: FLTIME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays total flight time +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_FLTIME_X: OSD1\_FLTIME\_X: FLTIME\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_FLTIME_Y: OSD1\_FLTIME\_Y: FLTIME\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CLIMBEFF_EN: OSD1\_CLIMBEFF\_EN: CLIMBEFF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb efficiency \(climb rate\/current\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_CLIMBEFF_X: OSD1\_CLIMBEFF\_X: CLIMBEFF\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CLIMBEFF_Y: OSD1\_CLIMBEFF\_Y: CLIMBEFF\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_EFF_EN: OSD1\_EFF\_EN: EFF\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays flight efficiency \(mAh\/km or \/mi\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_EFF_X: OSD1\_EFF\_X: EFF\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_EFF_Y: OSD1\_EFF\_Y: EFF\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BTEMP_EN: OSD1\_BTEMP\_EN: BTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by secondary barometer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_BTEMP_X: OSD1\_BTEMP\_X: BTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BTEMP_Y: OSD1\_BTEMP\_Y: BTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ATEMP_EN: OSD1\_ATEMP\_EN: ATEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ATEMP_X: OSD1\_ATEMP\_X: ATEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ATEMP_Y: OSD1\_ATEMP\_Y: ATEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BAT2_VLT_EN: OSD1\_BAT2\_VLT\_EN: BAT2VLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery2 voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_BAT2_VLT_X: OSD1\_BAT2\_VLT\_X: BAT2VLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BAT2_VLT_Y: OSD1\_BAT2\_VLT\_Y: BAT2VLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BAT2USED_EN: OSD1\_BAT2USED\_EN: BAT2USED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays secondary battery mAh consumed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_BAT2USED_X: OSD1\_BAT2USED\_X: BAT2USED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BAT2USED_Y: OSD1\_BAT2USED\_Y: BAT2USED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ASPD2_EN: OSD1\_ASPD2\_EN: ASPD2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from secondary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ASPD2_X: OSD1\_ASPD2\_X: ASPD2\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ASPD2_Y: OSD1\_ASPD2\_Y: ASPD2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ASPD1_EN: OSD1\_ASPD1\_EN: ASPD1\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from primary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ASPD1_X: OSD1\_ASPD1\_X: ASPD1\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ASPD1_Y: OSD1\_ASPD1\_Y: ASPD1\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CLK_EN: OSD1\_CLK\_EN: CLK\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays a clock panel based on AP\_RTC local time +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_CLK_X: OSD1\_CLK\_X: CLK\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CLK_Y: OSD1\_CLK\_Y: CLK\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_SIDEBARS_EN: OSD1\_SIDEBARS\_EN: SIDEBARS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon side bars +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_SIDEBARS_X: OSD1\_SIDEBARS\_X: SIDEBARS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_SIDEBARS_Y: OSD1\_SIDEBARS\_Y: SIDEBARS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CRSSHAIR_EN: OSD1\_CRSSHAIR\_EN: CRSSHAIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon crosshair \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_CRSSHAIR_X: OSD1\_CRSSHAIR\_X: CRSSHAIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CRSSHAIR_Y: OSD1\_CRSSHAIR\_Y: CRSSHAIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HOMEDIST_EN: OSD1\_HOMEDIST\_EN: HOMEDIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance from HOME \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_HOMEDIST_X: OSD1\_HOMEDIST\_X: HOMEDIST\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HOMEDIST_Y: OSD1\_HOMEDIST\_Y: HOMEDIST\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HOMEDIR_EN: OSD1\_HOMEDIR\_EN: HOMEDIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays relative direction to HOME \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_HOMEDIR_X: OSD1\_HOMEDIR\_X: HOMEDIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HOMEDIR_Y: OSD1\_HOMEDIR\_Y: HOMEDIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_POWER_EN: OSD1\_POWER\_EN: POWER\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays power \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_POWER_X: OSD1\_POWER\_X: POWER\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_POWER_Y: OSD1\_POWER\_Y: POWER\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CELLVOLT_EN: OSD1\_CELLVOLT\_EN: CELL\_VOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_CELLVOLT_X: OSD1\_CELLVOLT\_X: CELL\_VOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CELLVOLT_Y: OSD1\_CELLVOLT\_Y: CELL\_VOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BATTBAR_EN: OSD1\_BATTBAR\_EN: BATT\_BAR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery usage bar \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_BATTBAR_X: OSD1\_BATTBAR\_X: BATT\_BAR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BATTBAR_Y: OSD1\_BATTBAR\_Y: BATT\_BAR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ARMING_EN: OSD1\_ARMING\_EN: ARMING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays arming status \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ARMING_X: OSD1\_ARMING\_X: ARMING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ARMING_Y: OSD1\_ARMING\_Y: ARMING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_PLUSCODE_EN: OSD1\_PLUSCODE\_EN: PLUSCODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays pluscode \(OLC\) element +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_PLUSCODE_X: OSD1\_PLUSCODE\_X: PLUSCODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_PLUSCODE_Y: OSD1\_PLUSCODE\_Y: PLUSCODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CALLSIGN_EN: OSD1\_CALLSIGN\_EN: CALLSIGN\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays callsign from callsign\.txt on microSD card +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_CALLSIGN_X: OSD1\_CALLSIGN\_X: CALLSIGN\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CALLSIGN_Y: OSD1\_CALLSIGN\_Y: CALLSIGN\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CURRENT2_EN: OSD1\_CURRENT2\_EN: CURRENT2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays 2nd battery current +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_CURRENT2_X: OSD1\_CURRENT2\_X: CURRENT2\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CURRENT2_Y: OSD1\_CURRENT2\_Y: CURRENT2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_VTX_PWR_EN: OSD1\_VTX\_PWR\_EN: VTX\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays VTX Power +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_VTX_PWR_X: OSD1\_VTX\_PWR\_X: VTX\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_VTX_PWR_Y: OSD1\_VTX\_PWR\_Y: VTX\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_TER_HGT_EN: OSD1\_TER\_HGT\_EN: TER\_HGT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Height above terrain +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_TER_HGT_X: OSD1\_TER\_HGT\_X: TER\_HGT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_TER_HGT_Y: OSD1\_TER\_HGT\_Y: TER\_HGT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_AVGCELLV_EN: OSD1\_AVGCELLV\_EN: AVGCELLV\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_AVGCELLV_X: OSD1\_AVGCELLV\_X: AVGCELLV\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_AVGCELLV_Y: OSD1\_AVGCELLV\_Y: AVGCELLV\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RESTVOLT_EN: OSD1\_RESTVOLT\_EN: RESTVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery resting voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_RESTVOLT_X: OSD1\_RESTVOLT\_X: RESTVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RESTVOLT_Y: OSD1\_RESTVOLT\_Y: RESTVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_FENCE_EN: OSD1\_FENCE\_EN: FENCE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays indication of fence enable and breach +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_FENCE_X: OSD1\_FENCE\_X: FENCE\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_FENCE_Y: OSD1\_FENCE\_Y: FENCE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RNGF_EN: OSD1\_RNGF\_EN: RNGF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays a rangefinder\'s distance in cm +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_RNGF_X: OSD1\_RNGF\_X: RNGF\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RNGF_Y: OSD1\_RNGF\_Y: RNGF\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ACRVOLT_EN: OSD1\_ACRVOLT\_EN: ACRVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_ACRVOLT_X: OSD1\_ACRVOLT\_X: ACRVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ACRVOLT_Y: OSD1\_ACRVOLT\_Y: ACRVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RPM_EN: OSD1\_RPM\_EN: RPM\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays main rotor revs\/min +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_RPM_X: OSD1\_RPM\_X: RPM\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD1_RPM_Y: OSD1\_RPM\_Y: RPM\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD1_LINK_Q_EN: OSD1\_LINK\_Q\_EN: LINK\_Q\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Receiver link quality +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_LINK_Q_X: OSD1\_LINK\_Q\_X: LINK\_Q\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_LINK_Q_Y: OSD1\_LINK\_Q\_Y: LINK\_Q\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_TXT_RES: OSD1\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22\/53x20 \(MSP DisplayPort only\) +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | 30x16 | +-------+---------+ | 1 | 50x18 | +-------+---------+ | 2 | 60x22 | +-------+---------+ | 3 | 53x20 | +-------+---------+ .. _OSD1_FONT: OSD1\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the font index for this screen \(MSP DisplayPort only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RC_PWR_EN: OSD1\_RC\_PWR\_EN: RC\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link transmit \(TX\) power in mW or W\, depending on level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_RC_PWR_X: OSD1\_RC\_PWR\_X: RC\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RC_PWR_Y: OSD1\_RC\_PWR\_Y: RC\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RSSIDBM_EN: OSD1\_RSSIDBM\_EN: RSSIDBM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal strength in dBm +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_RSSIDBM_X: OSD1\_RSSIDBM\_X: RSSIDBM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RSSIDBM_Y: OSD1\_RSSIDBM\_Y: RSSIDBM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RC_SNR_EN: OSD1\_RC\_SNR\_EN: RC\_SNR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal to noise ratio in dB +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_RC_SNR_X: OSD1\_RC\_SNR\_X: RC\_SNR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RC_SNR_Y: OSD1\_RC\_SNR\_Y: RC\_SNR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RC_ANT_EN: OSD1\_RC\_ANT\_EN: RC\_ANT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current RC link active antenna +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_RC_ANT_X: OSD1\_RC\_ANT\_X: RC\_ANT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RC_ANT_Y: OSD1\_RC\_ANT\_Y: RC\_ANT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RC_LQ_EN: OSD1\_RC\_LQ\_EN: RC\_LQ\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD1_RC_LQ_X: OSD1\_RC\_LQ\_X: RC\_LQ\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RC_LQ_Y: OSD1\_RC\_LQ\_Y: RC\_LQ\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ESC_IDX: OSD1\_ESC\_IDX: ESC\_IDX ~~~~~~~~~~~~~~~~~~~~~~~~ Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _parameters_OSD2_: OSD2\_ Parameters ----------------- .. _OSD2_ENABLE: OSD2\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_CHAN_MIN: OSD2\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD2_CHAN_MAX: OSD2\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD2_ALTITUDE_EN: OSD2\_ALTITUDE\_EN: ALTITUDE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of altitude AGL +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ALTITUDE_X: OSD2\_ALTITUDE\_X: ALTITUDE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ALTITUDE_Y: OSD2\_ALTITUDE\_Y: ALTITUDE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BAT_VOLT_EN: OSD2\_BAT\_VOLT\_EN: BATVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_BAT_VOLT_X: OSD2\_BAT\_VOLT\_X: BATVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BAT_VOLT_Y: OSD2\_BAT\_VOLT\_Y: BATVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RSSI_EN: OSD2\_RSSI\_EN: RSSI\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC signal strength +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_RSSI_X: OSD2\_RSSI\_X: RSSI\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RSSI_Y: OSD2\_RSSI\_Y: RSSI\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CURRENT_EN: OSD2\_CURRENT\_EN: CURRENT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery current +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_CURRENT_X: OSD2\_CURRENT\_X: CURRENT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CURRENT_Y: OSD2\_CURRENT\_Y: CURRENT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BATUSED_EN: OSD2\_BATUSED\_EN: BATUSED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays primary battery mAh consumed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_BATUSED_X: OSD2\_BATUSED\_X: BATUSED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BATUSED_Y: OSD2\_BATUSED\_Y: BATUSED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_SATS_EN: OSD2\_SATS\_EN: SATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays number of acquired satellites +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_SATS_X: OSD2\_SATS\_X: SATS\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_SATS_Y: OSD2\_SATS\_Y: SATS\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_FLTMODE_EN: OSD2\_FLTMODE\_EN: FLTMODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight mode +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_FLTMODE_X: OSD2\_FLTMODE\_X: FLTMODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_FLTMODE_Y: OSD2\_FLTMODE\_Y: FLTMODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_MESSAGE_EN: OSD2\_MESSAGE\_EN: MESSAGE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Mavlink messages +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_MESSAGE_X: OSD2\_MESSAGE\_X: MESSAGE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_MESSAGE_Y: OSD2\_MESSAGE\_Y: MESSAGE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_GSPEED_EN: OSD2\_GSPEED\_EN: GSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS ground speed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_GSPEED_X: OSD2\_GSPEED\_X: GSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_GSPEED_Y: OSD2\_GSPEED\_Y: GSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HORIZON_EN: OSD2\_HORIZON\_EN: HORIZON\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_HORIZON_X: OSD2\_HORIZON\_X: HORIZON\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HORIZON_Y: OSD2\_HORIZON\_Y: HORIZON\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HOME_EN: OSD2\_HOME\_EN: HOME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance and relative direction to HOME +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_HOME_X: OSD2\_HOME\_X: HOME\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HOME_Y: OSD2\_HOME\_Y: HOME\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HEADING_EN: OSD2\_HEADING\_EN: HEADING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays heading +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_HEADING_X: OSD2\_HEADING\_X: HEADING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HEADING_Y: OSD2\_HEADING\_Y: HEADING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_THROTTLE_EN: OSD2\_THROTTLE\_EN: THROTTLE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays actual throttle percentage being sent to motor\(s\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_THROTTLE_X: OSD2\_THROTTLE\_X: THROTTLE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_THROTTLE_Y: OSD2\_THROTTLE\_Y: THROTTLE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_COMPASS_EN: OSD2\_COMPASS\_EN: COMPASS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of compass rose +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_COMPASS_X: OSD2\_COMPASS\_X: COMPASS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_COMPASS_Y: OSD2\_COMPASS\_Y: COMPASS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_WIND_EN: OSD2\_WIND\_EN: WIND\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_WIND_X: OSD2\_WIND\_X: WIND\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_WIND_Y: OSD2\_WIND\_Y: WIND\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ASPEED_EN: OSD2\_ASPEED\_EN: ASPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed value being used by TECS \(fused value\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ASPEED_X: OSD2\_ASPEED\_X: ASPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ASPEED_Y: OSD2\_ASPEED\_Y: ASPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_VSPEED_EN: OSD2\_VSPEED\_EN: VSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb rate +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_VSPEED_X: OSD2\_VSPEED\_X: VSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_VSPEED_Y: OSD2\_VSPEED\_Y: VSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ESCTEMP_EN: OSD2\_ESCTEMP\_EN: ESCTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ESCTEMP_X: OSD2\_ESCTEMP\_X: ESCTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ESCTEMP_Y: OSD2\_ESCTEMP\_Y: ESCTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ESCRPM_EN: OSD2\_ESCRPM\_EN: ESCRPM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ESCRPM_X: OSD2\_ESCRPM\_X: ESCRPM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ESCRPM_Y: OSD2\_ESCRPM\_Y: ESCRPM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ESCAMPS_EN: OSD2\_ESCAMPS\_EN: ESCAMPS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ESCAMPS_X: OSD2\_ESCAMPS\_X: ESCAMPS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ESCAMPS_Y: OSD2\_ESCAMPS\_Y: ESCAMPS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_GPSLAT_EN: OSD2\_GPSLAT\_EN: GPSLAT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS latitude +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_GPSLAT_X: OSD2\_GPSLAT\_X: GPSLAT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_GPSLAT_Y: OSD2\_GPSLAT\_Y: GPSLAT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_GPSLONG_EN: OSD2\_GPSLONG\_EN: GPSLONG\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS longitude +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_GPSLONG_X: OSD2\_GPSLONG\_X: GPSLONG\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_GPSLONG_Y: OSD2\_GPSLONG\_Y: GPSLONG\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ROLL_EN: OSD2\_ROLL\_EN: ROLL\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of roll from level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ROLL_X: OSD2\_ROLL\_X: ROLL\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ROLL_Y: OSD2\_ROLL\_Y: ROLL\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_PITCH_EN: OSD2\_PITCH\_EN: PITCH\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of pitch from level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_PITCH_X: OSD2\_PITCH\_X: PITCH\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_PITCH_Y: OSD2\_PITCH\_Y: PITCH\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_TEMP_EN: OSD2\_TEMP\_EN: TEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary barometer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_TEMP_X: OSD2\_TEMP\_X: TEMP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_TEMP_Y: OSD2\_TEMP\_Y: TEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HDOP_EN: OSD2\_HDOP\_EN: HDOP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays Horizontal Dilution Of Position +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_HDOP_X: OSD2\_HDOP\_X: HDOP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HDOP_Y: OSD2\_HDOP\_Y: HDOP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_WAYPOINT_EN: OSD2\_WAYPOINT\_EN: WAYPOINT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays bearing and distance to next waypoint +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_WAYPOINT_X: OSD2\_WAYPOINT\_X: WAYPOINT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_WAYPOINT_Y: OSD2\_WAYPOINT\_Y: WAYPOINT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_XTRACK_EN: OSD2\_XTRACK\_EN: XTRACK\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays crosstrack error +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_XTRACK_X: OSD2\_XTRACK\_X: XTRACK\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_XTRACK_Y: OSD2\_XTRACK\_Y: XTRACK\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_DIST_EN: OSD2\_DIST\_EN: DIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays total distance flown +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_DIST_X: OSD2\_DIST\_X: DIST\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_DIST_Y: OSD2\_DIST\_Y: DIST\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_STATS_EN: OSD2\_STATS\_EN: STATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight stats +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_STATS_X: OSD2\_STATS\_X: STATS\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_STATS_Y: OSD2\_STATS\_Y: STATS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_FLTIME_EN: OSD2\_FLTIME\_EN: FLTIME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays total flight time +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_FLTIME_X: OSD2\_FLTIME\_X: FLTIME\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_FLTIME_Y: OSD2\_FLTIME\_Y: FLTIME\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CLIMBEFF_EN: OSD2\_CLIMBEFF\_EN: CLIMBEFF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb efficiency \(climb rate\/current\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_CLIMBEFF_X: OSD2\_CLIMBEFF\_X: CLIMBEFF\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CLIMBEFF_Y: OSD2\_CLIMBEFF\_Y: CLIMBEFF\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_EFF_EN: OSD2\_EFF\_EN: EFF\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays flight efficiency \(mAh\/km or \/mi\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_EFF_X: OSD2\_EFF\_X: EFF\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_EFF_Y: OSD2\_EFF\_Y: EFF\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BTEMP_EN: OSD2\_BTEMP\_EN: BTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by secondary barometer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_BTEMP_X: OSD2\_BTEMP\_X: BTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BTEMP_Y: OSD2\_BTEMP\_Y: BTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ATEMP_EN: OSD2\_ATEMP\_EN: ATEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ATEMP_X: OSD2\_ATEMP\_X: ATEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ATEMP_Y: OSD2\_ATEMP\_Y: ATEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BAT2_VLT_EN: OSD2\_BAT2\_VLT\_EN: BAT2VLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery2 voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_BAT2_VLT_X: OSD2\_BAT2\_VLT\_X: BAT2VLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BAT2_VLT_Y: OSD2\_BAT2\_VLT\_Y: BAT2VLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BAT2USED_EN: OSD2\_BAT2USED\_EN: BAT2USED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays secondary battery mAh consumed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_BAT2USED_X: OSD2\_BAT2USED\_X: BAT2USED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BAT2USED_Y: OSD2\_BAT2USED\_Y: BAT2USED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ASPD2_EN: OSD2\_ASPD2\_EN: ASPD2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from secondary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ASPD2_X: OSD2\_ASPD2\_X: ASPD2\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ASPD2_Y: OSD2\_ASPD2\_Y: ASPD2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ASPD1_EN: OSD2\_ASPD1\_EN: ASPD1\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from primary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ASPD1_X: OSD2\_ASPD1\_X: ASPD1\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ASPD1_Y: OSD2\_ASPD1\_Y: ASPD1\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CLK_EN: OSD2\_CLK\_EN: CLK\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays a clock panel based on AP\_RTC local time +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_CLK_X: OSD2\_CLK\_X: CLK\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CLK_Y: OSD2\_CLK\_Y: CLK\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_SIDEBARS_EN: OSD2\_SIDEBARS\_EN: SIDEBARS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon side bars +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_SIDEBARS_X: OSD2\_SIDEBARS\_X: SIDEBARS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_SIDEBARS_Y: OSD2\_SIDEBARS\_Y: SIDEBARS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CRSSHAIR_EN: OSD2\_CRSSHAIR\_EN: CRSSHAIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon crosshair \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_CRSSHAIR_X: OSD2\_CRSSHAIR\_X: CRSSHAIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CRSSHAIR_Y: OSD2\_CRSSHAIR\_Y: CRSSHAIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HOMEDIST_EN: OSD2\_HOMEDIST\_EN: HOMEDIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance from HOME \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_HOMEDIST_X: OSD2\_HOMEDIST\_X: HOMEDIST\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HOMEDIST_Y: OSD2\_HOMEDIST\_Y: HOMEDIST\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HOMEDIR_EN: OSD2\_HOMEDIR\_EN: HOMEDIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays relative direction to HOME \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_HOMEDIR_X: OSD2\_HOMEDIR\_X: HOMEDIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HOMEDIR_Y: OSD2\_HOMEDIR\_Y: HOMEDIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_POWER_EN: OSD2\_POWER\_EN: POWER\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays power \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_POWER_X: OSD2\_POWER\_X: POWER\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_POWER_Y: OSD2\_POWER\_Y: POWER\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CELLVOLT_EN: OSD2\_CELLVOLT\_EN: CELL\_VOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_CELLVOLT_X: OSD2\_CELLVOLT\_X: CELL\_VOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CELLVOLT_Y: OSD2\_CELLVOLT\_Y: CELL\_VOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BATTBAR_EN: OSD2\_BATTBAR\_EN: BATT\_BAR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery usage bar \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_BATTBAR_X: OSD2\_BATTBAR\_X: BATT\_BAR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BATTBAR_Y: OSD2\_BATTBAR\_Y: BATT\_BAR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ARMING_EN: OSD2\_ARMING\_EN: ARMING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays arming status \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ARMING_X: OSD2\_ARMING\_X: ARMING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ARMING_Y: OSD2\_ARMING\_Y: ARMING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_PLUSCODE_EN: OSD2\_PLUSCODE\_EN: PLUSCODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays pluscode \(OLC\) element +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_PLUSCODE_X: OSD2\_PLUSCODE\_X: PLUSCODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_PLUSCODE_Y: OSD2\_PLUSCODE\_Y: PLUSCODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CALLSIGN_EN: OSD2\_CALLSIGN\_EN: CALLSIGN\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays callsign from callsign\.txt on microSD card +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_CALLSIGN_X: OSD2\_CALLSIGN\_X: CALLSIGN\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CALLSIGN_Y: OSD2\_CALLSIGN\_Y: CALLSIGN\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CURRENT2_EN: OSD2\_CURRENT2\_EN: CURRENT2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays 2nd battery current +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_CURRENT2_X: OSD2\_CURRENT2\_X: CURRENT2\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CURRENT2_Y: OSD2\_CURRENT2\_Y: CURRENT2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_VTX_PWR_EN: OSD2\_VTX\_PWR\_EN: VTX\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays VTX Power +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_VTX_PWR_X: OSD2\_VTX\_PWR\_X: VTX\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_VTX_PWR_Y: OSD2\_VTX\_PWR\_Y: VTX\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_TER_HGT_EN: OSD2\_TER\_HGT\_EN: TER\_HGT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Height above terrain +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_TER_HGT_X: OSD2\_TER\_HGT\_X: TER\_HGT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_TER_HGT_Y: OSD2\_TER\_HGT\_Y: TER\_HGT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_AVGCELLV_EN: OSD2\_AVGCELLV\_EN: AVGCELLV\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_AVGCELLV_X: OSD2\_AVGCELLV\_X: AVGCELLV\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_AVGCELLV_Y: OSD2\_AVGCELLV\_Y: AVGCELLV\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RESTVOLT_EN: OSD2\_RESTVOLT\_EN: RESTVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery resting voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_RESTVOLT_X: OSD2\_RESTVOLT\_X: RESTVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RESTVOLT_Y: OSD2\_RESTVOLT\_Y: RESTVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_FENCE_EN: OSD2\_FENCE\_EN: FENCE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays indication of fence enable and breach +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_FENCE_X: OSD2\_FENCE\_X: FENCE\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_FENCE_Y: OSD2\_FENCE\_Y: FENCE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RNGF_EN: OSD2\_RNGF\_EN: RNGF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays a rangefinder\'s distance in cm +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_RNGF_X: OSD2\_RNGF\_X: RNGF\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RNGF_Y: OSD2\_RNGF\_Y: RNGF\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ACRVOLT_EN: OSD2\_ACRVOLT\_EN: ACRVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_ACRVOLT_X: OSD2\_ACRVOLT\_X: ACRVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ACRVOLT_Y: OSD2\_ACRVOLT\_Y: ACRVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RPM_EN: OSD2\_RPM\_EN: RPM\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays main rotor revs\/min +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_RPM_X: OSD2\_RPM\_X: RPM\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD2_RPM_Y: OSD2\_RPM\_Y: RPM\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD2_LINK_Q_EN: OSD2\_LINK\_Q\_EN: LINK\_Q\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Receiver link quality +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_LINK_Q_X: OSD2\_LINK\_Q\_X: LINK\_Q\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_LINK_Q_Y: OSD2\_LINK\_Q\_Y: LINK\_Q\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_TXT_RES: OSD2\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22\/53x20 \(MSP DisplayPort only\) +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | 30x16 | +-------+---------+ | 1 | 50x18 | +-------+---------+ | 2 | 60x22 | +-------+---------+ | 3 | 53x20 | +-------+---------+ .. _OSD2_FONT: OSD2\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the font index for this screen \(MSP DisplayPort only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RC_PWR_EN: OSD2\_RC\_PWR\_EN: RC\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link transmit \(TX\) power in mW or W\, depending on level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_RC_PWR_X: OSD2\_RC\_PWR\_X: RC\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RC_PWR_Y: OSD2\_RC\_PWR\_Y: RC\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RSSIDBM_EN: OSD2\_RSSIDBM\_EN: RSSIDBM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal strength in dBm +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_RSSIDBM_X: OSD2\_RSSIDBM\_X: RSSIDBM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RSSIDBM_Y: OSD2\_RSSIDBM\_Y: RSSIDBM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RC_SNR_EN: OSD2\_RC\_SNR\_EN: RC\_SNR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal to noise ratio in dB +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_RC_SNR_X: OSD2\_RC\_SNR\_X: RC\_SNR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RC_SNR_Y: OSD2\_RC\_SNR\_Y: RC\_SNR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RC_ANT_EN: OSD2\_RC\_ANT\_EN: RC\_ANT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current RC link active antenna +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_RC_ANT_X: OSD2\_RC\_ANT\_X: RC\_ANT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RC_ANT_Y: OSD2\_RC\_ANT\_Y: RC\_ANT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RC_LQ_EN: OSD2\_RC\_LQ\_EN: RC\_LQ\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD2_RC_LQ_X: OSD2\_RC\_LQ\_X: RC\_LQ\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RC_LQ_Y: OSD2\_RC\_LQ\_Y: RC\_LQ\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ESC_IDX: OSD2\_ESC\_IDX: ESC\_IDX ~~~~~~~~~~~~~~~~~~~~~~~~ Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _parameters_OSD3_: OSD3\_ Parameters ----------------- .. _OSD3_ENABLE: OSD3\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_CHAN_MIN: OSD3\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD3_CHAN_MAX: OSD3\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD3_ALTITUDE_EN: OSD3\_ALTITUDE\_EN: ALTITUDE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of altitude AGL +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ALTITUDE_X: OSD3\_ALTITUDE\_X: ALTITUDE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ALTITUDE_Y: OSD3\_ALTITUDE\_Y: ALTITUDE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BAT_VOLT_EN: OSD3\_BAT\_VOLT\_EN: BATVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_BAT_VOLT_X: OSD3\_BAT\_VOLT\_X: BATVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BAT_VOLT_Y: OSD3\_BAT\_VOLT\_Y: BATVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RSSI_EN: OSD3\_RSSI\_EN: RSSI\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC signal strength +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_RSSI_X: OSD3\_RSSI\_X: RSSI\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RSSI_Y: OSD3\_RSSI\_Y: RSSI\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CURRENT_EN: OSD3\_CURRENT\_EN: CURRENT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery current +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_CURRENT_X: OSD3\_CURRENT\_X: CURRENT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CURRENT_Y: OSD3\_CURRENT\_Y: CURRENT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BATUSED_EN: OSD3\_BATUSED\_EN: BATUSED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays primary battery mAh consumed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_BATUSED_X: OSD3\_BATUSED\_X: BATUSED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BATUSED_Y: OSD3\_BATUSED\_Y: BATUSED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_SATS_EN: OSD3\_SATS\_EN: SATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays number of acquired satellites +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_SATS_X: OSD3\_SATS\_X: SATS\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_SATS_Y: OSD3\_SATS\_Y: SATS\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_FLTMODE_EN: OSD3\_FLTMODE\_EN: FLTMODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight mode +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_FLTMODE_X: OSD3\_FLTMODE\_X: FLTMODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_FLTMODE_Y: OSD3\_FLTMODE\_Y: FLTMODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_MESSAGE_EN: OSD3\_MESSAGE\_EN: MESSAGE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Mavlink messages +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_MESSAGE_X: OSD3\_MESSAGE\_X: MESSAGE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_MESSAGE_Y: OSD3\_MESSAGE\_Y: MESSAGE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_GSPEED_EN: OSD3\_GSPEED\_EN: GSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS ground speed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_GSPEED_X: OSD3\_GSPEED\_X: GSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_GSPEED_Y: OSD3\_GSPEED\_Y: GSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HORIZON_EN: OSD3\_HORIZON\_EN: HORIZON\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_HORIZON_X: OSD3\_HORIZON\_X: HORIZON\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HORIZON_Y: OSD3\_HORIZON\_Y: HORIZON\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HOME_EN: OSD3\_HOME\_EN: HOME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance and relative direction to HOME +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_HOME_X: OSD3\_HOME\_X: HOME\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HOME_Y: OSD3\_HOME\_Y: HOME\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HEADING_EN: OSD3\_HEADING\_EN: HEADING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays heading +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_HEADING_X: OSD3\_HEADING\_X: HEADING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HEADING_Y: OSD3\_HEADING\_Y: HEADING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_THROTTLE_EN: OSD3\_THROTTLE\_EN: THROTTLE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays actual throttle percentage being sent to motor\(s\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_THROTTLE_X: OSD3\_THROTTLE\_X: THROTTLE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_THROTTLE_Y: OSD3\_THROTTLE\_Y: THROTTLE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_COMPASS_EN: OSD3\_COMPASS\_EN: COMPASS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of compass rose +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_COMPASS_X: OSD3\_COMPASS\_X: COMPASS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_COMPASS_Y: OSD3\_COMPASS\_Y: COMPASS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_WIND_EN: OSD3\_WIND\_EN: WIND\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_WIND_X: OSD3\_WIND\_X: WIND\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_WIND_Y: OSD3\_WIND\_Y: WIND\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ASPEED_EN: OSD3\_ASPEED\_EN: ASPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed value being used by TECS \(fused value\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ASPEED_X: OSD3\_ASPEED\_X: ASPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ASPEED_Y: OSD3\_ASPEED\_Y: ASPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_VSPEED_EN: OSD3\_VSPEED\_EN: VSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb rate +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_VSPEED_X: OSD3\_VSPEED\_X: VSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_VSPEED_Y: OSD3\_VSPEED\_Y: VSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ESCTEMP_EN: OSD3\_ESCTEMP\_EN: ESCTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ESCTEMP_X: OSD3\_ESCTEMP\_X: ESCTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ESCTEMP_Y: OSD3\_ESCTEMP\_Y: ESCTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ESCRPM_EN: OSD3\_ESCRPM\_EN: ESCRPM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ESCRPM_X: OSD3\_ESCRPM\_X: ESCRPM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ESCRPM_Y: OSD3\_ESCRPM\_Y: ESCRPM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ESCAMPS_EN: OSD3\_ESCAMPS\_EN: ESCAMPS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ESCAMPS_X: OSD3\_ESCAMPS\_X: ESCAMPS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ESCAMPS_Y: OSD3\_ESCAMPS\_Y: ESCAMPS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_GPSLAT_EN: OSD3\_GPSLAT\_EN: GPSLAT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS latitude +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_GPSLAT_X: OSD3\_GPSLAT\_X: GPSLAT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_GPSLAT_Y: OSD3\_GPSLAT\_Y: GPSLAT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_GPSLONG_EN: OSD3\_GPSLONG\_EN: GPSLONG\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS longitude +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_GPSLONG_X: OSD3\_GPSLONG\_X: GPSLONG\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_GPSLONG_Y: OSD3\_GPSLONG\_Y: GPSLONG\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ROLL_EN: OSD3\_ROLL\_EN: ROLL\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of roll from level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ROLL_X: OSD3\_ROLL\_X: ROLL\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ROLL_Y: OSD3\_ROLL\_Y: ROLL\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_PITCH_EN: OSD3\_PITCH\_EN: PITCH\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of pitch from level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_PITCH_X: OSD3\_PITCH\_X: PITCH\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_PITCH_Y: OSD3\_PITCH\_Y: PITCH\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_TEMP_EN: OSD3\_TEMP\_EN: TEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary barometer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_TEMP_X: OSD3\_TEMP\_X: TEMP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_TEMP_Y: OSD3\_TEMP\_Y: TEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HDOP_EN: OSD3\_HDOP\_EN: HDOP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays Horizontal Dilution Of Position +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_HDOP_X: OSD3\_HDOP\_X: HDOP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HDOP_Y: OSD3\_HDOP\_Y: HDOP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_WAYPOINT_EN: OSD3\_WAYPOINT\_EN: WAYPOINT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays bearing and distance to next waypoint +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_WAYPOINT_X: OSD3\_WAYPOINT\_X: WAYPOINT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_WAYPOINT_Y: OSD3\_WAYPOINT\_Y: WAYPOINT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_XTRACK_EN: OSD3\_XTRACK\_EN: XTRACK\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays crosstrack error +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_XTRACK_X: OSD3\_XTRACK\_X: XTRACK\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_XTRACK_Y: OSD3\_XTRACK\_Y: XTRACK\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_DIST_EN: OSD3\_DIST\_EN: DIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays total distance flown +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_DIST_X: OSD3\_DIST\_X: DIST\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_DIST_Y: OSD3\_DIST\_Y: DIST\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_STATS_EN: OSD3\_STATS\_EN: STATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight stats +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_STATS_X: OSD3\_STATS\_X: STATS\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_STATS_Y: OSD3\_STATS\_Y: STATS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_FLTIME_EN: OSD3\_FLTIME\_EN: FLTIME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays total flight time +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_FLTIME_X: OSD3\_FLTIME\_X: FLTIME\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_FLTIME_Y: OSD3\_FLTIME\_Y: FLTIME\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CLIMBEFF_EN: OSD3\_CLIMBEFF\_EN: CLIMBEFF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb efficiency \(climb rate\/current\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_CLIMBEFF_X: OSD3\_CLIMBEFF\_X: CLIMBEFF\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CLIMBEFF_Y: OSD3\_CLIMBEFF\_Y: CLIMBEFF\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_EFF_EN: OSD3\_EFF\_EN: EFF\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays flight efficiency \(mAh\/km or \/mi\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_EFF_X: OSD3\_EFF\_X: EFF\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_EFF_Y: OSD3\_EFF\_Y: EFF\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BTEMP_EN: OSD3\_BTEMP\_EN: BTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by secondary barometer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_BTEMP_X: OSD3\_BTEMP\_X: BTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BTEMP_Y: OSD3\_BTEMP\_Y: BTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ATEMP_EN: OSD3\_ATEMP\_EN: ATEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ATEMP_X: OSD3\_ATEMP\_X: ATEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ATEMP_Y: OSD3\_ATEMP\_Y: ATEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BAT2_VLT_EN: OSD3\_BAT2\_VLT\_EN: BAT2VLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery2 voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_BAT2_VLT_X: OSD3\_BAT2\_VLT\_X: BAT2VLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BAT2_VLT_Y: OSD3\_BAT2\_VLT\_Y: BAT2VLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BAT2USED_EN: OSD3\_BAT2USED\_EN: BAT2USED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays secondary battery mAh consumed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_BAT2USED_X: OSD3\_BAT2USED\_X: BAT2USED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BAT2USED_Y: OSD3\_BAT2USED\_Y: BAT2USED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ASPD2_EN: OSD3\_ASPD2\_EN: ASPD2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from secondary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ASPD2_X: OSD3\_ASPD2\_X: ASPD2\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ASPD2_Y: OSD3\_ASPD2\_Y: ASPD2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ASPD1_EN: OSD3\_ASPD1\_EN: ASPD1\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from primary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ASPD1_X: OSD3\_ASPD1\_X: ASPD1\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ASPD1_Y: OSD3\_ASPD1\_Y: ASPD1\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CLK_EN: OSD3\_CLK\_EN: CLK\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays a clock panel based on AP\_RTC local time +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_CLK_X: OSD3\_CLK\_X: CLK\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CLK_Y: OSD3\_CLK\_Y: CLK\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_SIDEBARS_EN: OSD3\_SIDEBARS\_EN: SIDEBARS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon side bars +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_SIDEBARS_X: OSD3\_SIDEBARS\_X: SIDEBARS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_SIDEBARS_Y: OSD3\_SIDEBARS\_Y: SIDEBARS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CRSSHAIR_EN: OSD3\_CRSSHAIR\_EN: CRSSHAIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon crosshair \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_CRSSHAIR_X: OSD3\_CRSSHAIR\_X: CRSSHAIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CRSSHAIR_Y: OSD3\_CRSSHAIR\_Y: CRSSHAIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HOMEDIST_EN: OSD3\_HOMEDIST\_EN: HOMEDIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance from HOME \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_HOMEDIST_X: OSD3\_HOMEDIST\_X: HOMEDIST\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HOMEDIST_Y: OSD3\_HOMEDIST\_Y: HOMEDIST\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HOMEDIR_EN: OSD3\_HOMEDIR\_EN: HOMEDIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays relative direction to HOME \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_HOMEDIR_X: OSD3\_HOMEDIR\_X: HOMEDIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HOMEDIR_Y: OSD3\_HOMEDIR\_Y: HOMEDIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_POWER_EN: OSD3\_POWER\_EN: POWER\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays power \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_POWER_X: OSD3\_POWER\_X: POWER\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_POWER_Y: OSD3\_POWER\_Y: POWER\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CELLVOLT_EN: OSD3\_CELLVOLT\_EN: CELL\_VOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_CELLVOLT_X: OSD3\_CELLVOLT\_X: CELL\_VOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CELLVOLT_Y: OSD3\_CELLVOLT\_Y: CELL\_VOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BATTBAR_EN: OSD3\_BATTBAR\_EN: BATT\_BAR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery usage bar \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_BATTBAR_X: OSD3\_BATTBAR\_X: BATT\_BAR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BATTBAR_Y: OSD3\_BATTBAR\_Y: BATT\_BAR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ARMING_EN: OSD3\_ARMING\_EN: ARMING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays arming status \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ARMING_X: OSD3\_ARMING\_X: ARMING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ARMING_Y: OSD3\_ARMING\_Y: ARMING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_PLUSCODE_EN: OSD3\_PLUSCODE\_EN: PLUSCODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays pluscode \(OLC\) element +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_PLUSCODE_X: OSD3\_PLUSCODE\_X: PLUSCODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_PLUSCODE_Y: OSD3\_PLUSCODE\_Y: PLUSCODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CALLSIGN_EN: OSD3\_CALLSIGN\_EN: CALLSIGN\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays callsign from callsign\.txt on microSD card +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_CALLSIGN_X: OSD3\_CALLSIGN\_X: CALLSIGN\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CALLSIGN_Y: OSD3\_CALLSIGN\_Y: CALLSIGN\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CURRENT2_EN: OSD3\_CURRENT2\_EN: CURRENT2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays 2nd battery current +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_CURRENT2_X: OSD3\_CURRENT2\_X: CURRENT2\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CURRENT2_Y: OSD3\_CURRENT2\_Y: CURRENT2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_VTX_PWR_EN: OSD3\_VTX\_PWR\_EN: VTX\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays VTX Power +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_VTX_PWR_X: OSD3\_VTX\_PWR\_X: VTX\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_VTX_PWR_Y: OSD3\_VTX\_PWR\_Y: VTX\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_TER_HGT_EN: OSD3\_TER\_HGT\_EN: TER\_HGT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Height above terrain +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_TER_HGT_X: OSD3\_TER\_HGT\_X: TER\_HGT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_TER_HGT_Y: OSD3\_TER\_HGT\_Y: TER\_HGT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_AVGCELLV_EN: OSD3\_AVGCELLV\_EN: AVGCELLV\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_AVGCELLV_X: OSD3\_AVGCELLV\_X: AVGCELLV\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_AVGCELLV_Y: OSD3\_AVGCELLV\_Y: AVGCELLV\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RESTVOLT_EN: OSD3\_RESTVOLT\_EN: RESTVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery resting voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_RESTVOLT_X: OSD3\_RESTVOLT\_X: RESTVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RESTVOLT_Y: OSD3\_RESTVOLT\_Y: RESTVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_FENCE_EN: OSD3\_FENCE\_EN: FENCE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays indication of fence enable and breach +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_FENCE_X: OSD3\_FENCE\_X: FENCE\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_FENCE_Y: OSD3\_FENCE\_Y: FENCE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RNGF_EN: OSD3\_RNGF\_EN: RNGF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays a rangefinder\'s distance in cm +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_RNGF_X: OSD3\_RNGF\_X: RNGF\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RNGF_Y: OSD3\_RNGF\_Y: RNGF\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ACRVOLT_EN: OSD3\_ACRVOLT\_EN: ACRVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_ACRVOLT_X: OSD3\_ACRVOLT\_X: ACRVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ACRVOLT_Y: OSD3\_ACRVOLT\_Y: ACRVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RPM_EN: OSD3\_RPM\_EN: RPM\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays main rotor revs\/min +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_RPM_X: OSD3\_RPM\_X: RPM\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD3_RPM_Y: OSD3\_RPM\_Y: RPM\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD3_LINK_Q_EN: OSD3\_LINK\_Q\_EN: LINK\_Q\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Receiver link quality +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_LINK_Q_X: OSD3\_LINK\_Q\_X: LINK\_Q\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_LINK_Q_Y: OSD3\_LINK\_Q\_Y: LINK\_Q\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_TXT_RES: OSD3\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22\/53x20 \(MSP DisplayPort only\) +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | 30x16 | +-------+---------+ | 1 | 50x18 | +-------+---------+ | 2 | 60x22 | +-------+---------+ | 3 | 53x20 | +-------+---------+ .. _OSD3_FONT: OSD3\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the font index for this screen \(MSP DisplayPort only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RC_PWR_EN: OSD3\_RC\_PWR\_EN: RC\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link transmit \(TX\) power in mW or W\, depending on level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_RC_PWR_X: OSD3\_RC\_PWR\_X: RC\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RC_PWR_Y: OSD3\_RC\_PWR\_Y: RC\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RSSIDBM_EN: OSD3\_RSSIDBM\_EN: RSSIDBM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal strength in dBm +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_RSSIDBM_X: OSD3\_RSSIDBM\_X: RSSIDBM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RSSIDBM_Y: OSD3\_RSSIDBM\_Y: RSSIDBM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RC_SNR_EN: OSD3\_RC\_SNR\_EN: RC\_SNR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal to noise ratio in dB +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_RC_SNR_X: OSD3\_RC\_SNR\_X: RC\_SNR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RC_SNR_Y: OSD3\_RC\_SNR\_Y: RC\_SNR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RC_ANT_EN: OSD3\_RC\_ANT\_EN: RC\_ANT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current RC link active antenna +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_RC_ANT_X: OSD3\_RC\_ANT\_X: RC\_ANT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RC_ANT_Y: OSD3\_RC\_ANT\_Y: RC\_ANT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RC_LQ_EN: OSD3\_RC\_LQ\_EN: RC\_LQ\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD3_RC_LQ_X: OSD3\_RC\_LQ\_X: RC\_LQ\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RC_LQ_Y: OSD3\_RC\_LQ\_Y: RC\_LQ\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ESC_IDX: OSD3\_ESC\_IDX: ESC\_IDX ~~~~~~~~~~~~~~~~~~~~~~~~ Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _parameters_OSD4_: OSD4\_ Parameters ----------------- .. _OSD4_ENABLE: OSD4\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_CHAN_MIN: OSD4\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD4_CHAN_MAX: OSD4\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD4_ALTITUDE_EN: OSD4\_ALTITUDE\_EN: ALTITUDE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of altitude AGL +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ALTITUDE_X: OSD4\_ALTITUDE\_X: ALTITUDE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ALTITUDE_Y: OSD4\_ALTITUDE\_Y: ALTITUDE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BAT_VOLT_EN: OSD4\_BAT\_VOLT\_EN: BATVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_BAT_VOLT_X: OSD4\_BAT\_VOLT\_X: BATVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BAT_VOLT_Y: OSD4\_BAT\_VOLT\_Y: BATVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RSSI_EN: OSD4\_RSSI\_EN: RSSI\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC signal strength +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_RSSI_X: OSD4\_RSSI\_X: RSSI\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RSSI_Y: OSD4\_RSSI\_Y: RSSI\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CURRENT_EN: OSD4\_CURRENT\_EN: CURRENT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery current +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_CURRENT_X: OSD4\_CURRENT\_X: CURRENT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CURRENT_Y: OSD4\_CURRENT\_Y: CURRENT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BATUSED_EN: OSD4\_BATUSED\_EN: BATUSED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays primary battery mAh consumed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_BATUSED_X: OSD4\_BATUSED\_X: BATUSED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BATUSED_Y: OSD4\_BATUSED\_Y: BATUSED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_SATS_EN: OSD4\_SATS\_EN: SATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays number of acquired satellites +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_SATS_X: OSD4\_SATS\_X: SATS\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_SATS_Y: OSD4\_SATS\_Y: SATS\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_FLTMODE_EN: OSD4\_FLTMODE\_EN: FLTMODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight mode +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_FLTMODE_X: OSD4\_FLTMODE\_X: FLTMODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_FLTMODE_Y: OSD4\_FLTMODE\_Y: FLTMODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_MESSAGE_EN: OSD4\_MESSAGE\_EN: MESSAGE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Mavlink messages +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_MESSAGE_X: OSD4\_MESSAGE\_X: MESSAGE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_MESSAGE_Y: OSD4\_MESSAGE\_Y: MESSAGE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_GSPEED_EN: OSD4\_GSPEED\_EN: GSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS ground speed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_GSPEED_X: OSD4\_GSPEED\_X: GSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_GSPEED_Y: OSD4\_GSPEED\_Y: GSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HORIZON_EN: OSD4\_HORIZON\_EN: HORIZON\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_HORIZON_X: OSD4\_HORIZON\_X: HORIZON\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HORIZON_Y: OSD4\_HORIZON\_Y: HORIZON\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HOME_EN: OSD4\_HOME\_EN: HOME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance and relative direction to HOME +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_HOME_X: OSD4\_HOME\_X: HOME\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HOME_Y: OSD4\_HOME\_Y: HOME\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HEADING_EN: OSD4\_HEADING\_EN: HEADING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays heading +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_HEADING_X: OSD4\_HEADING\_X: HEADING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HEADING_Y: OSD4\_HEADING\_Y: HEADING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_THROTTLE_EN: OSD4\_THROTTLE\_EN: THROTTLE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays actual throttle percentage being sent to motor\(s\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_THROTTLE_X: OSD4\_THROTTLE\_X: THROTTLE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_THROTTLE_Y: OSD4\_THROTTLE\_Y: THROTTLE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_COMPASS_EN: OSD4\_COMPASS\_EN: COMPASS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of compass rose +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_COMPASS_X: OSD4\_COMPASS\_X: COMPASS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_COMPASS_Y: OSD4\_COMPASS\_Y: COMPASS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_WIND_EN: OSD4\_WIND\_EN: WIND\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_WIND_X: OSD4\_WIND\_X: WIND\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_WIND_Y: OSD4\_WIND\_Y: WIND\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ASPEED_EN: OSD4\_ASPEED\_EN: ASPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed value being used by TECS \(fused value\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ASPEED_X: OSD4\_ASPEED\_X: ASPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ASPEED_Y: OSD4\_ASPEED\_Y: ASPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_VSPEED_EN: OSD4\_VSPEED\_EN: VSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb rate +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_VSPEED_X: OSD4\_VSPEED\_X: VSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_VSPEED_Y: OSD4\_VSPEED\_Y: VSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ESCTEMP_EN: OSD4\_ESCTEMP\_EN: ESCTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ESCTEMP_X: OSD4\_ESCTEMP\_X: ESCTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ESCTEMP_Y: OSD4\_ESCTEMP\_Y: ESCTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ESCRPM_EN: OSD4\_ESCRPM\_EN: ESCRPM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ESCRPM_X: OSD4\_ESCRPM\_X: ESCRPM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ESCRPM_Y: OSD4\_ESCRPM\_Y: ESCRPM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ESCAMPS_EN: OSD4\_ESCAMPS\_EN: ESCAMPS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ESCAMPS_X: OSD4\_ESCAMPS\_X: ESCAMPS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ESCAMPS_Y: OSD4\_ESCAMPS\_Y: ESCAMPS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_GPSLAT_EN: OSD4\_GPSLAT\_EN: GPSLAT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS latitude +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_GPSLAT_X: OSD4\_GPSLAT\_X: GPSLAT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_GPSLAT_Y: OSD4\_GPSLAT\_Y: GPSLAT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_GPSLONG_EN: OSD4\_GPSLONG\_EN: GPSLONG\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS longitude +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_GPSLONG_X: OSD4\_GPSLONG\_X: GPSLONG\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_GPSLONG_Y: OSD4\_GPSLONG\_Y: GPSLONG\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ROLL_EN: OSD4\_ROLL\_EN: ROLL\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of roll from level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ROLL_X: OSD4\_ROLL\_X: ROLL\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ROLL_Y: OSD4\_ROLL\_Y: ROLL\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_PITCH_EN: OSD4\_PITCH\_EN: PITCH\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of pitch from level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_PITCH_X: OSD4\_PITCH\_X: PITCH\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_PITCH_Y: OSD4\_PITCH\_Y: PITCH\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_TEMP_EN: OSD4\_TEMP\_EN: TEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary barometer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_TEMP_X: OSD4\_TEMP\_X: TEMP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_TEMP_Y: OSD4\_TEMP\_Y: TEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HDOP_EN: OSD4\_HDOP\_EN: HDOP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays Horizontal Dilution Of Position +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_HDOP_X: OSD4\_HDOP\_X: HDOP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HDOP_Y: OSD4\_HDOP\_Y: HDOP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_WAYPOINT_EN: OSD4\_WAYPOINT\_EN: WAYPOINT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays bearing and distance to next waypoint +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_WAYPOINT_X: OSD4\_WAYPOINT\_X: WAYPOINT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_WAYPOINT_Y: OSD4\_WAYPOINT\_Y: WAYPOINT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_XTRACK_EN: OSD4\_XTRACK\_EN: XTRACK\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays crosstrack error +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_XTRACK_X: OSD4\_XTRACK\_X: XTRACK\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_XTRACK_Y: OSD4\_XTRACK\_Y: XTRACK\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_DIST_EN: OSD4\_DIST\_EN: DIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays total distance flown +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_DIST_X: OSD4\_DIST\_X: DIST\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_DIST_Y: OSD4\_DIST\_Y: DIST\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_STATS_EN: OSD4\_STATS\_EN: STATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight stats +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_STATS_X: OSD4\_STATS\_X: STATS\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_STATS_Y: OSD4\_STATS\_Y: STATS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_FLTIME_EN: OSD4\_FLTIME\_EN: FLTIME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays total flight time +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_FLTIME_X: OSD4\_FLTIME\_X: FLTIME\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_FLTIME_Y: OSD4\_FLTIME\_Y: FLTIME\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CLIMBEFF_EN: OSD4\_CLIMBEFF\_EN: CLIMBEFF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb efficiency \(climb rate\/current\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_CLIMBEFF_X: OSD4\_CLIMBEFF\_X: CLIMBEFF\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CLIMBEFF_Y: OSD4\_CLIMBEFF\_Y: CLIMBEFF\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_EFF_EN: OSD4\_EFF\_EN: EFF\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays flight efficiency \(mAh\/km or \/mi\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_EFF_X: OSD4\_EFF\_X: EFF\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_EFF_Y: OSD4\_EFF\_Y: EFF\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BTEMP_EN: OSD4\_BTEMP\_EN: BTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by secondary barometer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_BTEMP_X: OSD4\_BTEMP\_X: BTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BTEMP_Y: OSD4\_BTEMP\_Y: BTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ATEMP_EN: OSD4\_ATEMP\_EN: ATEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ATEMP_X: OSD4\_ATEMP\_X: ATEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ATEMP_Y: OSD4\_ATEMP\_Y: ATEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BAT2_VLT_EN: OSD4\_BAT2\_VLT\_EN: BAT2VLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery2 voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_BAT2_VLT_X: OSD4\_BAT2\_VLT\_X: BAT2VLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BAT2_VLT_Y: OSD4\_BAT2\_VLT\_Y: BAT2VLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BAT2USED_EN: OSD4\_BAT2USED\_EN: BAT2USED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays secondary battery mAh consumed +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_BAT2USED_X: OSD4\_BAT2USED\_X: BAT2USED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BAT2USED_Y: OSD4\_BAT2USED\_Y: BAT2USED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ASPD2_EN: OSD4\_ASPD2\_EN: ASPD2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from secondary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ASPD2_X: OSD4\_ASPD2\_X: ASPD2\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ASPD2_Y: OSD4\_ASPD2\_Y: ASPD2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ASPD1_EN: OSD4\_ASPD1\_EN: ASPD1\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from primary airspeed sensor +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ASPD1_X: OSD4\_ASPD1\_X: ASPD1\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ASPD1_Y: OSD4\_ASPD1\_Y: ASPD1\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CLK_EN: OSD4\_CLK\_EN: CLK\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays a clock panel based on AP\_RTC local time +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_CLK_X: OSD4\_CLK\_X: CLK\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CLK_Y: OSD4\_CLK\_Y: CLK\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_SIDEBARS_EN: OSD4\_SIDEBARS\_EN: SIDEBARS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon side bars +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_SIDEBARS_X: OSD4\_SIDEBARS\_X: SIDEBARS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_SIDEBARS_Y: OSD4\_SIDEBARS\_Y: SIDEBARS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CRSSHAIR_EN: OSD4\_CRSSHAIR\_EN: CRSSHAIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon crosshair \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_CRSSHAIR_X: OSD4\_CRSSHAIR\_X: CRSSHAIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CRSSHAIR_Y: OSD4\_CRSSHAIR\_Y: CRSSHAIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HOMEDIST_EN: OSD4\_HOMEDIST\_EN: HOMEDIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance from HOME \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_HOMEDIST_X: OSD4\_HOMEDIST\_X: HOMEDIST\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HOMEDIST_Y: OSD4\_HOMEDIST\_Y: HOMEDIST\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HOMEDIR_EN: OSD4\_HOMEDIR\_EN: HOMEDIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays relative direction to HOME \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_HOMEDIR_X: OSD4\_HOMEDIR\_X: HOMEDIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HOMEDIR_Y: OSD4\_HOMEDIR\_Y: HOMEDIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_POWER_EN: OSD4\_POWER\_EN: POWER\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays power \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_POWER_X: OSD4\_POWER\_X: POWER\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_POWER_Y: OSD4\_POWER\_Y: POWER\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CELLVOLT_EN: OSD4\_CELLVOLT\_EN: CELL\_VOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_CELLVOLT_X: OSD4\_CELLVOLT\_X: CELL\_VOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CELLVOLT_Y: OSD4\_CELLVOLT\_Y: CELL\_VOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BATTBAR_EN: OSD4\_BATTBAR\_EN: BATT\_BAR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery usage bar \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_BATTBAR_X: OSD4\_BATTBAR\_X: BATT\_BAR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BATTBAR_Y: OSD4\_BATTBAR\_Y: BATT\_BAR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ARMING_EN: OSD4\_ARMING\_EN: ARMING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays arming status \(MSP OSD only\) +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ARMING_X: OSD4\_ARMING\_X: ARMING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ARMING_Y: OSD4\_ARMING\_Y: ARMING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_PLUSCODE_EN: OSD4\_PLUSCODE\_EN: PLUSCODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays pluscode \(OLC\) element +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_PLUSCODE_X: OSD4\_PLUSCODE\_X: PLUSCODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_PLUSCODE_Y: OSD4\_PLUSCODE\_Y: PLUSCODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CALLSIGN_EN: OSD4\_CALLSIGN\_EN: CALLSIGN\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays callsign from callsign\.txt on microSD card +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_CALLSIGN_X: OSD4\_CALLSIGN\_X: CALLSIGN\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CALLSIGN_Y: OSD4\_CALLSIGN\_Y: CALLSIGN\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CURRENT2_EN: OSD4\_CURRENT2\_EN: CURRENT2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays 2nd battery current +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_CURRENT2_X: OSD4\_CURRENT2\_X: CURRENT2\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CURRENT2_Y: OSD4\_CURRENT2\_Y: CURRENT2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_VTX_PWR_EN: OSD4\_VTX\_PWR\_EN: VTX\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays VTX Power +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_VTX_PWR_X: OSD4\_VTX\_PWR\_X: VTX\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_VTX_PWR_Y: OSD4\_VTX\_PWR\_Y: VTX\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_TER_HGT_EN: OSD4\_TER\_HGT\_EN: TER\_HGT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Height above terrain +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_TER_HGT_X: OSD4\_TER\_HGT\_X: TER\_HGT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_TER_HGT_Y: OSD4\_TER\_HGT\_Y: TER\_HGT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_AVGCELLV_EN: OSD4\_AVGCELLV\_EN: AVGCELLV\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_AVGCELLV_X: OSD4\_AVGCELLV\_X: AVGCELLV\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_AVGCELLV_Y: OSD4\_AVGCELLV\_Y: AVGCELLV\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RESTVOLT_EN: OSD4\_RESTVOLT\_EN: RESTVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery resting voltage +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_RESTVOLT_X: OSD4\_RESTVOLT\_X: RESTVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RESTVOLT_Y: OSD4\_RESTVOLT\_Y: RESTVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_FENCE_EN: OSD4\_FENCE\_EN: FENCE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays indication of fence enable and breach +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_FENCE_X: OSD4\_FENCE\_X: FENCE\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_FENCE_Y: OSD4\_FENCE\_Y: FENCE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RNGF_EN: OSD4\_RNGF\_EN: RNGF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays a rangefinder\'s distance in cm +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_RNGF_X: OSD4\_RNGF\_X: RNGF\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RNGF_Y: OSD4\_RNGF\_Y: RNGF\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ACRVOLT_EN: OSD4\_ACRVOLT\_EN: ACRVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_ACRVOLT_X: OSD4\_ACRVOLT\_X: ACRVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ACRVOLT_Y: OSD4\_ACRVOLT\_Y: ACRVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RPM_EN: OSD4\_RPM\_EN: RPM\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays main rotor revs\/min +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_RPM_X: OSD4\_RPM\_X: RPM\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD4_RPM_Y: OSD4\_RPM\_Y: RPM\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD4_LINK_Q_EN: OSD4\_LINK\_Q\_EN: LINK\_Q\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Receiver link quality +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_LINK_Q_X: OSD4\_LINK\_Q\_X: LINK\_Q\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_LINK_Q_Y: OSD4\_LINK\_Q\_Y: LINK\_Q\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_TXT_RES: OSD4\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22\/53x20 \(MSP DisplayPort only\) +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | 30x16 | +-------+---------+ | 1 | 50x18 | +-------+---------+ | 2 | 60x22 | +-------+---------+ | 3 | 53x20 | +-------+---------+ .. _OSD4_FONT: OSD4\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the font index for this screen \(MSP DisplayPort only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RC_PWR_EN: OSD4\_RC\_PWR\_EN: RC\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link transmit \(TX\) power in mW or W\, depending on level +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_RC_PWR_X: OSD4\_RC\_PWR\_X: RC\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RC_PWR_Y: OSD4\_RC\_PWR\_Y: RC\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RSSIDBM_EN: OSD4\_RSSIDBM\_EN: RSSIDBM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal strength in dBm +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_RSSIDBM_X: OSD4\_RSSIDBM\_X: RSSIDBM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RSSIDBM_Y: OSD4\_RSSIDBM\_Y: RSSIDBM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RC_SNR_EN: OSD4\_RC\_SNR\_EN: RC\_SNR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal to noise ratio in dB +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_RC_SNR_X: OSD4\_RC\_SNR\_X: RC\_SNR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RC_SNR_Y: OSD4\_RC\_SNR\_Y: RC\_SNR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RC_ANT_EN: OSD4\_RC\_ANT\_EN: RC\_ANT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current RC link active antenna +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_RC_ANT_X: OSD4\_RC\_ANT\_X: RC\_ANT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RC_ANT_Y: OSD4\_RC\_ANT\_Y: RC\_ANT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RC_LQ_EN: OSD4\_RC\_LQ\_EN: RC\_LQ\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD4_RC_LQ_X: OSD4\_RC\_LQ\_X: RC\_LQ\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RC_LQ_Y: OSD4\_RC\_LQ\_Y: RC\_LQ\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ESC_IDX: OSD4\_ESC\_IDX: ESC\_IDX ~~~~~~~~~~~~~~~~~~~~~~~~ Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _parameters_OSD5_: OSD5\_ Parameters ----------------- .. _OSD5_ENABLE: OSD5\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_CHAN_MIN: OSD5\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD5_CHAN_MAX: OSD5\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD5_SAVE_X: OSD5\_SAVE\_X: SAVE\_X ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Horizontal position of Save button on screen +---------+ | Range | +=========+ | 0 to 25 | +---------+ .. _OSD5_SAVE_Y: OSD5\_SAVE\_Y: SAVE\_Y ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Vertical position of Save button on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _parameters_OSD5_PARAM1: OSD5\_PARAM1 Parameters ----------------------- .. _OSD5_PARAM1_EN: OSD5\_PARAM1\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_PARAM1_X: OSD5\_PARAM1\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM1_Y: OSD5\_PARAM1\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM1_KEY: OSD5\_PARAM1\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM1_IDX: OSD5\_PARAM1\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM1_GRP: OSD5\_PARAM1\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM1_MIN: OSD5\_PARAM1\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM1_MAX: OSD5\_PARAM1\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM1_INCR: OSD5\_PARAM1\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM1_TYPE: OSD5\_PARAM1\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM2: OSD5\_PARAM2 Parameters ----------------------- .. _OSD5_PARAM2_EN: OSD5\_PARAM2\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_PARAM2_X: OSD5\_PARAM2\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM2_Y: OSD5\_PARAM2\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM2_KEY: OSD5\_PARAM2\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM2_IDX: OSD5\_PARAM2\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM2_GRP: OSD5\_PARAM2\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM2_MIN: OSD5\_PARAM2\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM2_MAX: OSD5\_PARAM2\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM2_INCR: OSD5\_PARAM2\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM2_TYPE: OSD5\_PARAM2\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM3: OSD5\_PARAM3 Parameters ----------------------- .. _OSD5_PARAM3_EN: OSD5\_PARAM3\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_PARAM3_X: OSD5\_PARAM3\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM3_Y: OSD5\_PARAM3\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM3_KEY: OSD5\_PARAM3\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM3_IDX: OSD5\_PARAM3\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM3_GRP: OSD5\_PARAM3\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM3_MIN: OSD5\_PARAM3\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM3_MAX: OSD5\_PARAM3\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM3_INCR: OSD5\_PARAM3\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM3_TYPE: OSD5\_PARAM3\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM4: OSD5\_PARAM4 Parameters ----------------------- .. _OSD5_PARAM4_EN: OSD5\_PARAM4\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_PARAM4_X: OSD5\_PARAM4\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM4_Y: OSD5\_PARAM4\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM4_KEY: OSD5\_PARAM4\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM4_IDX: OSD5\_PARAM4\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM4_GRP: OSD5\_PARAM4\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM4_MIN: OSD5\_PARAM4\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM4_MAX: OSD5\_PARAM4\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM4_INCR: OSD5\_PARAM4\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM4_TYPE: OSD5\_PARAM4\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM5: OSD5\_PARAM5 Parameters ----------------------- .. _OSD5_PARAM5_EN: OSD5\_PARAM5\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_PARAM5_X: OSD5\_PARAM5\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM5_Y: OSD5\_PARAM5\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM5_KEY: OSD5\_PARAM5\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM5_IDX: OSD5\_PARAM5\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM5_GRP: OSD5\_PARAM5\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM5_MIN: OSD5\_PARAM5\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM5_MAX: OSD5\_PARAM5\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM5_INCR: OSD5\_PARAM5\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM5_TYPE: OSD5\_PARAM5\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM6: OSD5\_PARAM6 Parameters ----------------------- .. _OSD5_PARAM6_EN: OSD5\_PARAM6\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_PARAM6_X: OSD5\_PARAM6\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM6_Y: OSD5\_PARAM6\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM6_KEY: OSD5\_PARAM6\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM6_IDX: OSD5\_PARAM6\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM6_GRP: OSD5\_PARAM6\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM6_MIN: OSD5\_PARAM6\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM6_MAX: OSD5\_PARAM6\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM6_INCR: OSD5\_PARAM6\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM6_TYPE: OSD5\_PARAM6\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM7: OSD5\_PARAM7 Parameters ----------------------- .. _OSD5_PARAM7_EN: OSD5\_PARAM7\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_PARAM7_X: OSD5\_PARAM7\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM7_Y: OSD5\_PARAM7\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM7_KEY: OSD5\_PARAM7\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM7_IDX: OSD5\_PARAM7\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM7_GRP: OSD5\_PARAM7\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM7_MIN: OSD5\_PARAM7\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM7_MAX: OSD5\_PARAM7\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM7_INCR: OSD5\_PARAM7\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM7_TYPE: OSD5\_PARAM7\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM8: OSD5\_PARAM8 Parameters ----------------------- .. _OSD5_PARAM8_EN: OSD5\_PARAM8\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_PARAM8_X: OSD5\_PARAM8\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM8_Y: OSD5\_PARAM8\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM8_KEY: OSD5\_PARAM8\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM8_IDX: OSD5\_PARAM8\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM8_GRP: OSD5\_PARAM8\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM8_MIN: OSD5\_PARAM8\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM8_MAX: OSD5\_PARAM8\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM8_INCR: OSD5\_PARAM8\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM8_TYPE: OSD5\_PARAM8\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM9: OSD5\_PARAM9 Parameters ----------------------- .. _OSD5_PARAM9_EN: OSD5\_PARAM9\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD5_PARAM9_X: OSD5\_PARAM9\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM9_Y: OSD5\_PARAM9\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM9_KEY: OSD5\_PARAM9\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM9_IDX: OSD5\_PARAM9\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM9_GRP: OSD5\_PARAM9\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM9_MIN: OSD5\_PARAM9\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM9_MAX: OSD5\_PARAM9\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM9_INCR: OSD5\_PARAM9\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM9_TYPE: OSD5\_PARAM9\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_: OSD6\_ Parameters ----------------- .. _OSD6_ENABLE: OSD6\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_CHAN_MIN: OSD6\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD6_CHAN_MAX: OSD6\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD6_SAVE_X: OSD6\_SAVE\_X: SAVE\_X ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Horizontal position of Save button on screen +---------+ | Range | +=========+ | 0 to 25 | +---------+ .. _OSD6_SAVE_Y: OSD6\_SAVE\_Y: SAVE\_Y ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Vertical position of Save button on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _parameters_OSD6_PARAM1: OSD6\_PARAM1 Parameters ----------------------- .. _OSD6_PARAM1_EN: OSD6\_PARAM1\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_PARAM1_X: OSD6\_PARAM1\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM1_Y: OSD6\_PARAM1\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM1_KEY: OSD6\_PARAM1\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM1_IDX: OSD6\_PARAM1\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM1_GRP: OSD6\_PARAM1\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM1_MIN: OSD6\_PARAM1\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM1_MAX: OSD6\_PARAM1\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM1_INCR: OSD6\_PARAM1\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM1_TYPE: OSD6\_PARAM1\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM2: OSD6\_PARAM2 Parameters ----------------------- .. _OSD6_PARAM2_EN: OSD6\_PARAM2\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_PARAM2_X: OSD6\_PARAM2\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM2_Y: OSD6\_PARAM2\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM2_KEY: OSD6\_PARAM2\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM2_IDX: OSD6\_PARAM2\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM2_GRP: OSD6\_PARAM2\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM2_MIN: OSD6\_PARAM2\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM2_MAX: OSD6\_PARAM2\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM2_INCR: OSD6\_PARAM2\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM2_TYPE: OSD6\_PARAM2\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM3: OSD6\_PARAM3 Parameters ----------------------- .. _OSD6_PARAM3_EN: OSD6\_PARAM3\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_PARAM3_X: OSD6\_PARAM3\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM3_Y: OSD6\_PARAM3\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM3_KEY: OSD6\_PARAM3\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM3_IDX: OSD6\_PARAM3\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM3_GRP: OSD6\_PARAM3\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM3_MIN: OSD6\_PARAM3\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM3_MAX: OSD6\_PARAM3\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM3_INCR: OSD6\_PARAM3\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM3_TYPE: OSD6\_PARAM3\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM4: OSD6\_PARAM4 Parameters ----------------------- .. _OSD6_PARAM4_EN: OSD6\_PARAM4\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_PARAM4_X: OSD6\_PARAM4\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM4_Y: OSD6\_PARAM4\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM4_KEY: OSD6\_PARAM4\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM4_IDX: OSD6\_PARAM4\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM4_GRP: OSD6\_PARAM4\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM4_MIN: OSD6\_PARAM4\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM4_MAX: OSD6\_PARAM4\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM4_INCR: OSD6\_PARAM4\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM4_TYPE: OSD6\_PARAM4\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM5: OSD6\_PARAM5 Parameters ----------------------- .. _OSD6_PARAM5_EN: OSD6\_PARAM5\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_PARAM5_X: OSD6\_PARAM5\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM5_Y: OSD6\_PARAM5\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM5_KEY: OSD6\_PARAM5\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM5_IDX: OSD6\_PARAM5\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM5_GRP: OSD6\_PARAM5\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM5_MIN: OSD6\_PARAM5\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM5_MAX: OSD6\_PARAM5\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM5_INCR: OSD6\_PARAM5\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM5_TYPE: OSD6\_PARAM5\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM6: OSD6\_PARAM6 Parameters ----------------------- .. _OSD6_PARAM6_EN: OSD6\_PARAM6\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_PARAM6_X: OSD6\_PARAM6\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM6_Y: OSD6\_PARAM6\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM6_KEY: OSD6\_PARAM6\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM6_IDX: OSD6\_PARAM6\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM6_GRP: OSD6\_PARAM6\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM6_MIN: OSD6\_PARAM6\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM6_MAX: OSD6\_PARAM6\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM6_INCR: OSD6\_PARAM6\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM6_TYPE: OSD6\_PARAM6\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM7: OSD6\_PARAM7 Parameters ----------------------- .. _OSD6_PARAM7_EN: OSD6\_PARAM7\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_PARAM7_X: OSD6\_PARAM7\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM7_Y: OSD6\_PARAM7\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM7_KEY: OSD6\_PARAM7\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM7_IDX: OSD6\_PARAM7\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM7_GRP: OSD6\_PARAM7\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM7_MIN: OSD6\_PARAM7\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM7_MAX: OSD6\_PARAM7\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM7_INCR: OSD6\_PARAM7\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM7_TYPE: OSD6\_PARAM7\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM8: OSD6\_PARAM8 Parameters ----------------------- .. _OSD6_PARAM8_EN: OSD6\_PARAM8\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_PARAM8_X: OSD6\_PARAM8\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM8_Y: OSD6\_PARAM8\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM8_KEY: OSD6\_PARAM8\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM8_IDX: OSD6\_PARAM8\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM8_GRP: OSD6\_PARAM8\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM8_MIN: OSD6\_PARAM8\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM8_MAX: OSD6\_PARAM8\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM8_INCR: OSD6\_PARAM8\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM8_TYPE: OSD6\_PARAM8\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM9: OSD6\_PARAM9 Parameters ----------------------- .. _OSD6_PARAM9_EN: OSD6\_PARAM9\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _OSD6_PARAM9_X: OSD6\_PARAM9\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM9_Y: OSD6\_PARAM9\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM9_KEY: OSD6\_PARAM9\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM9_IDX: OSD6\_PARAM9\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM9_GRP: OSD6\_PARAM9\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM9_MIN: OSD6\_PARAM9\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM9_MAX: OSD6\_PARAM9\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM9_INCR: OSD6\_PARAM9\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM9_TYPE: OSD6\_PARAM9\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_PLND_: PLND\_ Parameters ----------------- .. _PLND_ENABLED: PLND\_ENABLED: Precision Land enabled\/disabled ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Precision Land enabled\/disabled +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _PLND_TYPE: PLND\_TYPE: Precision Land Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Precision Land Type +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 1 | MAVLink | +-------+-------------+ | 2 | IRLock | +-------+-------------+ | 3 | SITL_Gazebo | +-------+-------------+ | 4 | SITL | +-------+-------------+ .. _PLND_YAW_ALIGN: PLND\_YAW\_ALIGN: Sensor yaw alignment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw angle from body x\-axis to sensor x\-axis\. +-----------+------------+--------------+ | Increment | Range | Units | +===========+============+==============+ | 10 | 0 to 36000 | centidegrees | +-----------+------------+--------------+ .. _PLND_LAND_OFS_X: PLND\_LAND\_OFS\_X: Land offset forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired landing position of the camera forward of the target in vehicle body frame +-----------+-----------+-------------+ | Increment | Range | Units | +===========+===========+=============+ | 1 | -20 to 20 | centimeters | +-----------+-----------+-------------+ .. _PLND_LAND_OFS_Y: PLND\_LAND\_OFS\_Y: Land offset right ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* desired landing position of the camera right of the target in vehicle body frame +-----------+-----------+-------------+ | Increment | Range | Units | +===========+===========+=============+ | 1 | -20 to 20 | centimeters | +-----------+-----------+-------------+ .. _PLND_EST_TYPE: PLND\_EST\_TYPE: Precision Land Estimator Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the estimation method to be used +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | RawSensor | +-------+--------------+ | 1 | KalmanFilter | +-------+--------------+ .. _PLND_ACC_P_NSE: PLND\_ACC\_P\_NSE: Kalman Filter Accelerometer Noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Kalman Filter Accelerometer Noise\, higher values weight the input from the camera more\, accels less +----------+ | Range | +==========+ | 0.5 to 5 | +----------+ .. _PLND_CAM_POS_X: PLND\_CAM\_POS\_X: Camera X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the camera in body frame\. Positive X is forward of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _PLND_CAM_POS_Y: PLND\_CAM\_POS\_Y: Camera Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the camera in body frame\. Positive Y is to the right of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _PLND_CAM_POS_Z: PLND\_CAM\_POS\_Z: Camera Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the camera in body frame\. Positive Z is down from the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _PLND_BUS: PLND\_BUS: Sensor Bus ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland sensor bus for I2C sensors\. +-------+-------------+ | Value | Meaning | +=======+=============+ | -1 | DefaultBus | +-------+-------------+ | 0 | InternalI2C | +-------+-------------+ | 1 | ExternalI2C | +-------+-------------+ .. _PLND_LAG: PLND\_LAG: Precision Landing sensor lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Precision Landing sensor lag\, to cope with variable landing\_target latency +-----------+---------------+---------+ | Increment | Range | Units | +===========+===============+=========+ | 1 | 0.02 to 0.250 | seconds | +-----------+---------------+---------+ .. _PLND_XY_DIST_MAX: PLND\_XY\_DIST\_MAX: Precision Landing maximum distance to target before descending ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The vehicle will not start descending if the landing target is detected and it is further than this many meters away\. Set 0 to always descend\. +---------+--------+ | Range | Units | +=========+========+ | 0 to 10 | meters | +---------+--------+ .. _PLND_STRICT: PLND\_STRICT: PrecLand strictness ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How strictly should the vehicle land on the target if target is lost +-------+----------------------------------------+ | Value | Meaning | +=======+========================================+ | 0 | Land Vertically (Not strict) | +-------+----------------------------------------+ | 1 | Retry Landing(Normal Strictness) | +-------+----------------------------------------+ | 2 | Do not land (just Hover) (Very Strict) | +-------+----------------------------------------+ .. _PLND_RET_MAX: PLND\_RET\_MAX: PrecLand Maximum number of retires for a failed landing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PrecLand Maximum number of retires for a failed landing\. Set to zero to disable landing retry\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _PLND_TIMEOUT: PLND\_TIMEOUT: PrecLand retry timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time for which vehicle continues descend even if target is lost\. After this time period\, vehicle will attempt a landing retry depending on PLND\_STRICT parameter\. +---------+---------+ | Range | Units | +=========+=========+ | 0 to 20 | seconds | +---------+---------+ .. _PLND_RET_BEHAVE: PLND\_RET\_BEHAVE: PrecLand retry behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Prec Land will do the action selected by this parameter if a retry to a landing is needed +-------+--------------------------------------------------------------------+ | Value | Meaning | +=======+====================================================================+ | 0 | Go to the last location where landing target was detected | +-------+--------------------------------------------------------------------+ | 1 | Go towards the approximate location of the detected landing target | +-------+--------------------------------------------------------------------+ .. _PLND_ALT_MIN: PLND\_ALT\_MIN: PrecLand minimum alt for retry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle will continue landing vertically even if target is lost below this height\. This needs a rangefinder to work\. Set to zero to disable this\. +--------+--------+ | Range | Units | +========+========+ | 0 to 5 | meters | +--------+--------+ .. _PLND_ALT_MAX: PLND\_ALT\_MAX: PrecLand maximum alt for retry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle will continue landing vertically until this height if target is not found\. Below this height if landing target is not found\, landing retry\/failsafe might be attempted\. This needs a rangefinder to work\. Set to zero to disable this\. +---------+--------+ | Range | Units | +=========+========+ | 0 to 50 | meters | +---------+--------+ .. _PLND_OPTIONS: PLND\_OPTIONS: Precision Landing Extra Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precision Landing Extra Options +-----+-------------------------------------------------+ | Bit | Meaning | +=====+=================================================+ | 0 | Moving Landing Target | +-----+-------------------------------------------------+ | 1 | Allow Precision Landing after manual reposition | +-----+-------------------------------------------------+ | 2 | Maintain high speed in final descent | +-----+-------------------------------------------------+ .. _PLND_ORIENT: PLND\_ORIENT: Camera Orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Orientation of camera\/sensor on body +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Forward | +-------+---------+ | 4 | Back | +-------+---------+ | 25 | Down | +-------+---------+ .. _parameters_PRX: PRX Parameters -------------- .. _PRX_LOG_RAW: PRX\_LOG\_RAW: Proximity raw distances log ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Set this parameter to one if logging unfiltered\(raw\) distances from sensor should be enabled +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Off | +-------+---------+ | 1 | On | +-------+---------+ .. _PRX_FILT: PRX\_FILT: Proximity filter cutoff frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Cutoff frequency for low pass filter applied to each face in the proximity boundary +---------+-------+ | Range | Units | +=========+=======+ | 0 to 20 | hertz | +---------+-------+ .. _parameters_PRX1: PRX1 Parameters --------------- .. _PRX1_TYPE: PRX1\_TYPE: Proximity type ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of proximity sensor is connected +-------+--------------------+ | Value | Meaning | +=======+====================+ | 0 | None | +-------+--------------------+ | 7 | LightwareSF40c | +-------+--------------------+ | 2 | MAVLink | +-------+--------------------+ | 3 | TeraRangerTower | +-------+--------------------+ | 4 | RangeFinder | +-------+--------------------+ | 5 | RPLidarA2 | +-------+--------------------+ | 6 | TeraRangerTowerEvo | +-------+--------------------+ | 8 | LightwareSF45B | +-------+--------------------+ | 10 | SITL | +-------+--------------------+ | 12 | AirSimSITL | +-------+--------------------+ | 13 | CygbotD1 | +-------+--------------------+ | 14 | DroneCAN | +-------+--------------------+ | 15 | Scripting | +-------+--------------------+ | 16 | LD06 | +-------+--------------------+ | 17 | MR72_CAN | +-------+--------------------+ | 18 | HexsoonRadar | +-------+--------------------+ .. _PRX1_ORIENT: PRX1\_ORIENT: Proximity sensor orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor orientation +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Default | +-------+-------------+ | 1 | Upside Down | +-------+-------------+ .. _PRX1_YAW_CORR: PRX1\_YAW\_CORR: Proximity sensor yaw correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor yaw correction +-------------+---------+ | Range | Units | +=============+=========+ | -180 to 180 | degrees | +-------------+---------+ .. _PRX1_IGN_ANG1: PRX1\_IGN\_ANG1: Proximity sensor ignore angle 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX1_IGN_WID1: PRX1\_IGN\_WID1: Proximity sensor ignore width 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX1_IGN_ANG2: PRX1\_IGN\_ANG2: Proximity sensor ignore angle 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX1_IGN_WID2: PRX1\_IGN\_WID2: Proximity sensor ignore width 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX1_IGN_ANG3: PRX1\_IGN\_ANG3: Proximity sensor ignore angle 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX1_IGN_WID3: PRX1\_IGN\_WID3: Proximity sensor ignore width 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX1_IGN_ANG4: PRX1\_IGN\_ANG4: Proximity sensor ignore angle 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX1_IGN_WID4: PRX1\_IGN\_WID4: Proximity sensor ignore width 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX1_MIN: PRX1\_MIN: Proximity minimum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX1_MAX: PRX1\_MAX: Proximity maximum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX1_ADDR: PRX1\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _parameters_PRX1_: PRX1\_ Parameters ----------------- .. _PRX1_RECV_ID: PRX1\_RECV\_ID: CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_PRX2: PRX2 Parameters --------------- .. _PRX2_TYPE: PRX2\_TYPE: Proximity type ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of proximity sensor is connected +-------+--------------------+ | Value | Meaning | +=======+====================+ | 0 | None | +-------+--------------------+ | 7 | LightwareSF40c | +-------+--------------------+ | 2 | MAVLink | +-------+--------------------+ | 3 | TeraRangerTower | +-------+--------------------+ | 4 | RangeFinder | +-------+--------------------+ | 5 | RPLidarA2 | +-------+--------------------+ | 6 | TeraRangerTowerEvo | +-------+--------------------+ | 8 | LightwareSF45B | +-------+--------------------+ | 10 | SITL | +-------+--------------------+ | 12 | AirSimSITL | +-------+--------------------+ | 13 | CygbotD1 | +-------+--------------------+ | 14 | DroneCAN | +-------+--------------------+ | 15 | Scripting | +-------+--------------------+ | 16 | LD06 | +-------+--------------------+ | 17 | MR72_CAN | +-------+--------------------+ | 18 | HexsoonRadar | +-------+--------------------+ .. _PRX2_ORIENT: PRX2\_ORIENT: Proximity sensor orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor orientation +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Default | +-------+-------------+ | 1 | Upside Down | +-------+-------------+ .. _PRX2_YAW_CORR: PRX2\_YAW\_CORR: Proximity sensor yaw correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor yaw correction +-------------+---------+ | Range | Units | +=============+=========+ | -180 to 180 | degrees | +-------------+---------+ .. _PRX2_IGN_ANG1: PRX2\_IGN\_ANG1: Proximity sensor ignore angle 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX2_IGN_WID1: PRX2\_IGN\_WID1: Proximity sensor ignore width 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX2_IGN_ANG2: PRX2\_IGN\_ANG2: Proximity sensor ignore angle 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX2_IGN_WID2: PRX2\_IGN\_WID2: Proximity sensor ignore width 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX2_IGN_ANG3: PRX2\_IGN\_ANG3: Proximity sensor ignore angle 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX2_IGN_WID3: PRX2\_IGN\_WID3: Proximity sensor ignore width 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX2_IGN_ANG4: PRX2\_IGN\_ANG4: Proximity sensor ignore angle 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX2_IGN_WID4: PRX2\_IGN\_WID4: Proximity sensor ignore width 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX2_MIN: PRX2\_MIN: Proximity minimum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX2_MAX: PRX2\_MAX: Proximity maximum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX2_ADDR: PRX2\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _parameters_PRX2_: PRX2\_ Parameters ----------------- .. _PRX2_RECV_ID: PRX2\_RECV\_ID: CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_PRX3: PRX3 Parameters --------------- .. _PRX3_TYPE: PRX3\_TYPE: Proximity type ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of proximity sensor is connected +-------+--------------------+ | Value | Meaning | +=======+====================+ | 0 | None | +-------+--------------------+ | 7 | LightwareSF40c | +-------+--------------------+ | 2 | MAVLink | +-------+--------------------+ | 3 | TeraRangerTower | +-------+--------------------+ | 4 | RangeFinder | +-------+--------------------+ | 5 | RPLidarA2 | +-------+--------------------+ | 6 | TeraRangerTowerEvo | +-------+--------------------+ | 8 | LightwareSF45B | +-------+--------------------+ | 10 | SITL | +-------+--------------------+ | 12 | AirSimSITL | +-------+--------------------+ | 13 | CygbotD1 | +-------+--------------------+ | 14 | DroneCAN | +-------+--------------------+ | 15 | Scripting | +-------+--------------------+ | 16 | LD06 | +-------+--------------------+ | 17 | MR72_CAN | +-------+--------------------+ | 18 | HexsoonRadar | +-------+--------------------+ .. _PRX3_ORIENT: PRX3\_ORIENT: Proximity sensor orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor orientation +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Default | +-------+-------------+ | 1 | Upside Down | +-------+-------------+ .. _PRX3_YAW_CORR: PRX3\_YAW\_CORR: Proximity sensor yaw correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor yaw correction +-------------+---------+ | Range | Units | +=============+=========+ | -180 to 180 | degrees | +-------------+---------+ .. _PRX3_IGN_ANG1: PRX3\_IGN\_ANG1: Proximity sensor ignore angle 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX3_IGN_WID1: PRX3\_IGN\_WID1: Proximity sensor ignore width 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX3_IGN_ANG2: PRX3\_IGN\_ANG2: Proximity sensor ignore angle 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX3_IGN_WID2: PRX3\_IGN\_WID2: Proximity sensor ignore width 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX3_IGN_ANG3: PRX3\_IGN\_ANG3: Proximity sensor ignore angle 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX3_IGN_WID3: PRX3\_IGN\_WID3: Proximity sensor ignore width 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX3_IGN_ANG4: PRX3\_IGN\_ANG4: Proximity sensor ignore angle 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX3_IGN_WID4: PRX3\_IGN\_WID4: Proximity sensor ignore width 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX3_MIN: PRX3\_MIN: Proximity minimum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX3_MAX: PRX3\_MAX: Proximity maximum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX3_ADDR: PRX3\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _parameters_PRX3_: PRX3\_ Parameters ----------------- .. _PRX3_RECV_ID: PRX3\_RECV\_ID: CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_PRX4: PRX4 Parameters --------------- .. _PRX4_TYPE: PRX4\_TYPE: Proximity type ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of proximity sensor is connected +-------+--------------------+ | Value | Meaning | +=======+====================+ | 0 | None | +-------+--------------------+ | 7 | LightwareSF40c | +-------+--------------------+ | 2 | MAVLink | +-------+--------------------+ | 3 | TeraRangerTower | +-------+--------------------+ | 4 | RangeFinder | +-------+--------------------+ | 5 | RPLidarA2 | +-------+--------------------+ | 6 | TeraRangerTowerEvo | +-------+--------------------+ | 8 | LightwareSF45B | +-------+--------------------+ | 10 | SITL | +-------+--------------------+ | 12 | AirSimSITL | +-------+--------------------+ | 13 | CygbotD1 | +-------+--------------------+ | 14 | DroneCAN | +-------+--------------------+ | 15 | Scripting | +-------+--------------------+ | 16 | LD06 | +-------+--------------------+ | 17 | MR72_CAN | +-------+--------------------+ | 18 | HexsoonRadar | +-------+--------------------+ .. _PRX4_ORIENT: PRX4\_ORIENT: Proximity sensor orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor orientation +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Default | +-------+-------------+ | 1 | Upside Down | +-------+-------------+ .. _PRX4_YAW_CORR: PRX4\_YAW\_CORR: Proximity sensor yaw correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor yaw correction +-------------+---------+ | Range | Units | +=============+=========+ | -180 to 180 | degrees | +-------------+---------+ .. _PRX4_IGN_ANG1: PRX4\_IGN\_ANG1: Proximity sensor ignore angle 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX4_IGN_WID1: PRX4\_IGN\_WID1: Proximity sensor ignore width 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX4_IGN_ANG2: PRX4\_IGN\_ANG2: Proximity sensor ignore angle 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX4_IGN_WID2: PRX4\_IGN\_WID2: Proximity sensor ignore width 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX4_IGN_ANG3: PRX4\_IGN\_ANG3: Proximity sensor ignore angle 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX4_IGN_WID3: PRX4\_IGN\_WID3: Proximity sensor ignore width 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX4_IGN_ANG4: PRX4\_IGN\_ANG4: Proximity sensor ignore angle 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX4_IGN_WID4: PRX4\_IGN\_WID4: Proximity sensor ignore width 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX4_MIN: PRX4\_MIN: Proximity minimum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX4_MAX: PRX4\_MAX: Proximity maximum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX4_ADDR: PRX4\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _parameters_PRX4_: PRX4\_ Parameters ----------------- .. _PRX4_RECV_ID: PRX4\_RECV\_ID: CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_PRX5: PRX5 Parameters --------------- .. _PRX5_TYPE: PRX5\_TYPE: Proximity type ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of proximity sensor is connected +-------+--------------------+ | Value | Meaning | +=======+====================+ | 0 | None | +-------+--------------------+ | 7 | LightwareSF40c | +-------+--------------------+ | 2 | MAVLink | +-------+--------------------+ | 3 | TeraRangerTower | +-------+--------------------+ | 4 | RangeFinder | +-------+--------------------+ | 5 | RPLidarA2 | +-------+--------------------+ | 6 | TeraRangerTowerEvo | +-------+--------------------+ | 8 | LightwareSF45B | +-------+--------------------+ | 10 | SITL | +-------+--------------------+ | 12 | AirSimSITL | +-------+--------------------+ | 13 | CygbotD1 | +-------+--------------------+ | 14 | DroneCAN | +-------+--------------------+ | 15 | Scripting | +-------+--------------------+ | 16 | LD06 | +-------+--------------------+ | 17 | MR72_CAN | +-------+--------------------+ | 18 | HexsoonRadar | +-------+--------------------+ .. _PRX5_ORIENT: PRX5\_ORIENT: Proximity sensor orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor orientation +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Default | +-------+-------------+ | 1 | Upside Down | +-------+-------------+ .. _PRX5_YAW_CORR: PRX5\_YAW\_CORR: Proximity sensor yaw correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor yaw correction +-------------+---------+ | Range | Units | +=============+=========+ | -180 to 180 | degrees | +-------------+---------+ .. _PRX5_IGN_ANG1: PRX5\_IGN\_ANG1: Proximity sensor ignore angle 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX5_IGN_WID1: PRX5\_IGN\_WID1: Proximity sensor ignore width 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 1 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX5_IGN_ANG2: PRX5\_IGN\_ANG2: Proximity sensor ignore angle 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX5_IGN_WID2: PRX5\_IGN\_WID2: Proximity sensor ignore width 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 2 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX5_IGN_ANG3: PRX5\_IGN\_ANG3: Proximity sensor ignore angle 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX5_IGN_WID3: PRX5\_IGN\_WID3: Proximity sensor ignore width 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 3 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX5_IGN_ANG4: PRX5\_IGN\_ANG4: Proximity sensor ignore angle 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore angle 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _PRX5_IGN_WID4: PRX5\_IGN\_WID4: Proximity sensor ignore width 4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Proximity sensor ignore width 4 +----------+---------+ | Range | Units | +==========+=========+ | 0 to 127 | degrees | +----------+---------+ .. _PRX5_MIN: PRX5\_MIN: Proximity minimum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX5_MAX: PRX5\_MAX: Proximity maximum range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. +----------+--------+ | Range | Units | +==========+========+ | 0 to 500 | meters | +----------+--------+ .. _PRX5_ADDR: PRX5\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _parameters_PRX5_: PRX5\_ Parameters ----------------- .. _PRX5_RECV_ID: PRX5\_RECV\_ID: CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_PSC: PSC Parameters -------------- .. _PSC_POS_P: PSC\_POS\_P: Position controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Position controller P gain\. Converts the distance to the target location into a desired speed which is then passed to the loiter latitude rate controller +----------------+ | Range | +================+ | 0.500 to 2.000 | +----------------+ .. _PSC_VEL_P: PSC\_VEL\_P: Velocity \(horizontal\) P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) P gain\. Converts the difference between desired and actual velocity to a target acceleration +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.1 to 6.0 | +-----------+------------+ .. _PSC_VEL_I: PSC\_VEL\_I: Velocity \(horizontal\) I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) I gain\. Corrects long\-term difference between desired and actual velocity to a target acceleration +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.01 | 0.00 to 1.00 | +-----------+--------------+ .. _PSC_VEL_D: PSC\_VEL\_D: Velocity \(horizontal\) D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) D gain\. Corrects short\-term changes in velocity +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.001 | 0.00 to 1.00 | +-----------+--------------+ .. _PSC_VEL_IMAX: PSC\_VEL\_IMAX: Velocity \(horizontal\) integrator maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) integrator maximum\. Constrains the target acceleration that the I gain will output +-----------+-----------+-------------------------------+ | Increment | Range | Units | +===========+===========+===============================+ | 10 | 0 to 4500 | centimeters per square second | +-----------+-----------+-------------------------------+ .. _PSC_VEL_FLTE: PSC\_VEL\_FLTE: Velocity \(horizontal\) input filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for P and I terms +----------+-------+ | Range | Units | +==========+=======+ | 0 to 100 | hertz | +----------+-------+ .. _PSC_VEL_FLTD: PSC\_VEL\_FLTD: Velocity \(horizontal\) input filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for D term +----------+-------+ | Range | Units | +==========+=======+ | 0 to 100 | hertz | +----------+-------+ .. _PSC_VEL_FF: PSC\_VEL\_FF: Velocity \(horizontal\) feed forward gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) feed forward gain\. Converts the difference between desired velocity to a target acceleration +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 6 | +-----------+--------+ .. _parameters_RALLY_: RALLY\_ Parameters ------------------ .. _RALLY_TOTAL: RALLY\_TOTAL: Rally Total ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Number of rally points currently loaded .. _RALLY_LIMIT_KM: RALLY\_LIMIT\_KM: Rally Limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 | Units | +===========+============+ | 0.1 | kilometers | +-----------+------------+ .. _RALLY_INCL_HOME: RALLY\_INCL\_HOME: Rally Include Home ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Controls if Home is included as a Rally point \(i\.e\. as a safe landing place\) for RTL +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | DoNotIncludeHome | +-------+------------------+ | 1 | IncludeHome | +-------+------------------+ .. _parameters_RC: RC Parameters ------------- .. _RC_OVERRIDE_TIME: RC\_OVERRIDE\_TIME: RC override timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Timeout after which RC overrides will no longer be used\, and RC input will resume\, 0 will disable RC overrides\, \-1 will never timeout\, and continue using overrides until they are disabled +--------------+---------+ | Range | Units | +==============+=========+ | 0.0 to 120.0 | seconds | +--------------+---------+ .. _RC_OPTIONS: RC\_OPTIONS: RC options ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC input options +-----+--------------------------------------------------------------------+ | Bit | Meaning | +=====+====================================================================+ | 0 | Ignore RC Receiver | +-----+--------------------------------------------------------------------+ | 1 | Ignore MAVLink Overrides | +-----+--------------------------------------------------------------------+ | 2 | Ignore Receiver Failsafe bit but allow other RC failsafes if setup | +-----+--------------------------------------------------------------------+ | 3 | FPort Pad | +-----+--------------------------------------------------------------------+ | 4 | Log RC input bytes | +-----+--------------------------------------------------------------------+ | 5 | Arming check throttle for 0 input | +-----+--------------------------------------------------------------------+ | 6 | Skip the arming check for neutral Roll/Pitch/Yaw sticks | +-----+--------------------------------------------------------------------+ | 7 | Allow Switch reverse | +-----+--------------------------------------------------------------------+ | 8 | Use passthrough for CRSF telemetry | +-----+--------------------------------------------------------------------+ | 9 | Suppress CRSF mode/rate message for ELRS systems | +-----+--------------------------------------------------------------------+ | 10 | Enable multiple receiver support | +-----+--------------------------------------------------------------------+ | 11 | Use Link Quality for RSSI with CRSF | +-----+--------------------------------------------------------------------+ | 12 | Annotate CRSF flight mode with * on disarm | +-----+--------------------------------------------------------------------+ | 13 | Use 420kbaud for ELRS protocol | +-----+--------------------------------------------------------------------+ | 14 | Clear MAVLink overrides on any stick input | +-----+--------------------------------------------------------------------+ .. _RC_PROTOCOLS: RC\_PROTOCOLS: RC protocols enabled ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of enabled RC protocols\. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection\. Set to 1 to enable all protocols\. +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | All | +-----+----------+ | 1 | PPM | +-----+----------+ | 2 | IBUS | +-----+----------+ | 3 | SBUS | +-----+----------+ | 4 | SBUS_NI | +-----+----------+ | 5 | DSM | +-----+----------+ | 6 | SUMD | +-----+----------+ | 7 | SRXL | +-----+----------+ | 8 | SRXL2 | +-----+----------+ | 9 | CRSF | +-----+----------+ | 10 | ST24 | +-----+----------+ | 11 | FPORT | +-----+----------+ | 12 | FPORT2 | +-----+----------+ | 13 | FastSBUS | +-----+----------+ | 14 | DroneCAN | +-----+----------+ | 15 | Ghost | +-----+----------+ | 16 | MAVRadio | +-----+----------+ | 18 | SITL UDP | +-----+----------+ .. _RC_FS_TIMEOUT: RC\_FS\_TIMEOUT: RC Failsafe timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RC failsafe will trigger this many seconds after loss of RC +-------------+---------+ | Range | Units | +=============+=========+ | 0.1 to 10.0 | seconds | +-------------+---------+ .. _parameters_RC1_: RC1\_ Parameters ---------------- .. _RC1_MIN: RC1\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC1_TRIM: RC1\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC1_MAX: RC1\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC1_REVERSED: RC1\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC1_DZ: RC1\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC1_OPTION: RC1\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC2_: RC2\_ Parameters ---------------- .. _RC2_MIN: RC2\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC2_TRIM: RC2\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC2_MAX: RC2\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC2_REVERSED: RC2\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC2_DZ: RC2\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC2_OPTION: RC2\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC3_: RC3\_ Parameters ---------------- .. _RC3_MIN: RC3\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC3_TRIM: RC3\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC3_MAX: RC3\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC3_REVERSED: RC3\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC3_DZ: RC3\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC3_OPTION: RC3\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC4_: RC4\_ Parameters ---------------- .. _RC4_MIN: RC4\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC4_TRIM: RC4\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC4_MAX: RC4\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC4_REVERSED: RC4\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC4_DZ: RC4\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC4_OPTION: RC4\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC5_: RC5\_ Parameters ---------------- .. _RC5_MIN: RC5\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC5_TRIM: RC5\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC5_MAX: RC5\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC5_REVERSED: RC5\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC5_DZ: RC5\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC5_OPTION: RC5\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC6_: RC6\_ Parameters ---------------- .. _RC6_MIN: RC6\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC6_TRIM: RC6\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC6_MAX: RC6\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC6_REVERSED: RC6\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC6_DZ: RC6\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC6_OPTION: RC6\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC7_: RC7\_ Parameters ---------------- .. _RC7_MIN: RC7\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC7_TRIM: RC7\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC7_MAX: RC7\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC7_REVERSED: RC7\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC7_DZ: RC7\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC7_OPTION: RC7\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC8_: RC8\_ Parameters ---------------- .. _RC8_MIN: RC8\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC8_TRIM: RC8\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC8_MAX: RC8\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC8_REVERSED: RC8\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC8_DZ: RC8\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC8_OPTION: RC8\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC9_: RC9\_ Parameters ---------------- .. _RC9_MIN: RC9\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC9_TRIM: RC9\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC9_MAX: RC9\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC9_REVERSED: RC9\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC9_DZ: RC9\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC9_OPTION: RC9\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC10_: RC10\_ Parameters ----------------- .. _RC10_MIN: RC10\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC10_TRIM: RC10\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC10_MAX: RC10\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC10_REVERSED: RC10\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC10_DZ: RC10\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC10_OPTION: RC10\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC11_: RC11\_ Parameters ----------------- .. _RC11_MIN: RC11\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC11_TRIM: RC11\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC11_MAX: RC11\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC11_REVERSED: RC11\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC11_DZ: RC11\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC11_OPTION: RC11\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC12_: RC12\_ Parameters ----------------- .. _RC12_MIN: RC12\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC12_TRIM: RC12\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC12_MAX: RC12\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC12_REVERSED: RC12\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC12_DZ: RC12\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC12_OPTION: RC12\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC13_: RC13\_ Parameters ----------------- .. _RC13_MIN: RC13\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC13_TRIM: RC13\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC13_MAX: RC13\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC13_REVERSED: RC13\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC13_DZ: RC13\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC13_OPTION: RC13\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC14_: RC14\_ Parameters ----------------- .. _RC14_MIN: RC14\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC14_TRIM: RC14\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC14_MAX: RC14\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC14_REVERSED: RC14\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC14_DZ: RC14\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC14_OPTION: RC14\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC15_: RC15\_ Parameters ----------------- .. _RC15_MIN: RC15\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC15_TRIM: RC15\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC15_MAX: RC15\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC15_REVERSED: RC15\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC15_DZ: RC15\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC15_OPTION: RC15\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RC16_: RC16\_ Parameters ----------------- .. _RC16_MIN: RC16\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC16_TRIM: RC16\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC16_MAX: RC16\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC16_REVERSED: RC16\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _RC16_DZ: RC16\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC16_OPTION: RC16\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-------+-------------------------------------------+ | Value | Meaning | +=======+===========================================+ | 0 | Do Nothing | +-------+-------------------------------------------+ | 4 | RTL | +-------+-------------------------------------------+ | 7 | Save WP | +-------+-------------------------------------------+ | 9 | Camera Trigger | +-------+-------------------------------------------+ | 11 | Fence Enable | +-------+-------------------------------------------+ | 16 | AUTO Mode | +-------+-------------------------------------------+ | 19 | Gripper | +-------+-------------------------------------------+ | 24 | Auto Mission Reset | +-------+-------------------------------------------+ | 27 | Retract Mount1 | +-------+-------------------------------------------+ | 28 | Relay1 On/Off | +-------+-------------------------------------------+ | 30 | Lost Rover Sound | +-------+-------------------------------------------+ | 31 | Motor Emergency Stop | +-------+-------------------------------------------+ | 34 | Relay2 On/Off | +-------+-------------------------------------------+ | 35 | Relay3 On/Off | +-------+-------------------------------------------+ | 36 | Relay4 On/Off | +-------+-------------------------------------------+ | 40 | Proximity Avoidance Enable | +-------+-------------------------------------------+ | 42 | SMARTRTL Mode | +-------+-------------------------------------------+ | 46 | RC Override Enable | +-------+-------------------------------------------+ | 50 | LearnCruise Speed | +-------+-------------------------------------------+ | 51 | MANUAL Mode | +-------+-------------------------------------------+ | 52 | ACRO Mode | +-------+-------------------------------------------+ | 53 | STEERING Mode | +-------+-------------------------------------------+ | 54 | HOLD Mode | +-------+-------------------------------------------+ | 55 | GUIDED Mode | +-------+-------------------------------------------+ | 56 | LOITER Mode | +-------+-------------------------------------------+ | 57 | FOLLOW Mode | +-------+-------------------------------------------+ | 58 | Clear Waypoints | +-------+-------------------------------------------+ | 59 | Simple Mode | +-------+-------------------------------------------+ | 62 | Compass Learn | +-------+-------------------------------------------+ | 63 | Sailboat Tack | +-------+-------------------------------------------+ | 65 | GPS Disable | +-------+-------------------------------------------+ | 66 | Relay5 On/Off | +-------+-------------------------------------------+ | 67 | Relay6 On/Off | +-------+-------------------------------------------+ | 72 | CIRCLE Mode | +-------+-------------------------------------------+ | 74 | Sailboat motoring 3pos | +-------+-------------------------------------------+ | 78 | RunCam Control | +-------+-------------------------------------------+ | 79 | RunCam OSD Control | +-------+-------------------------------------------+ | 80 | VisoOdom Align | +-------+-------------------------------------------+ | 81 | Disarm | +-------+-------------------------------------------+ | 90 | EKF Source Set | +-------+-------------------------------------------+ | 94 | VTX Power | +-------+-------------------------------------------+ | 97 | Windvane home heading direction offset | +-------+-------------------------------------------+ | 100 | KillIMU1 | +-------+-------------------------------------------+ | 101 | KillIMU2 | +-------+-------------------------------------------+ | 102 | Camera Mode Toggle | +-------+-------------------------------------------+ | 103 | EKF lane switch attempt | +-------+-------------------------------------------+ | 104 | EKF yaw reset | +-------+-------------------------------------------+ | 105 | GPS Disable Yaw | +-------+-------------------------------------------+ | 106 | Disable Airspeed Use | +-------+-------------------------------------------+ | 110 | KillIMU3 | +-------+-------------------------------------------+ | 111 | Loweheiser starter | +-------+-------------------------------------------+ | 112 | SwitchExternalAHRS | +-------+-------------------------------------------+ | 113 | Retract Mount2 | +-------+-------------------------------------------+ | 153 | ArmDisarm | +-------+-------------------------------------------+ | 155 | Set steering trim to current servo and RC | +-------+-------------------------------------------+ | 156 | Torqeedo Clear Err | +-------+-------------------------------------------+ | 162 | FFT Tune | +-------+-------------------------------------------+ | 163 | Mount Yaw Lock | +-------+-------------------------------------------+ | 164 | Pause Stream Logging | +-------+-------------------------------------------+ | 165 | Arm/Emergency Motor Stop | +-------+-------------------------------------------+ | 166 | Camera Record Video | +-------+-------------------------------------------+ | 167 | Camera Zoom | +-------+-------------------------------------------+ | 168 | Camera Manual Focus | +-------+-------------------------------------------+ | 169 | Camera Auto Focus | +-------+-------------------------------------------+ | 171 | Calibrate Compasses | +-------+-------------------------------------------+ | 172 | Battery MPPT Enable | +-------+-------------------------------------------+ | 174 | Camera Image Tracking | +-------+-------------------------------------------+ | 175 | Camera Lens | +-------+-------------------------------------------+ | 177 | Mount LRF enable | +-------+-------------------------------------------+ | 185 | Mount Roll/Pitch Lock | +-------+-------------------------------------------+ | 186 | Mount POI Lock | +-------+-------------------------------------------+ | 187 | EKF Reset | +-------+-------------------------------------------+ | 201 | Roll | +-------+-------------------------------------------+ | 202 | Pitch | +-------+-------------------------------------------+ | 207 | MainSail | +-------+-------------------------------------------+ | 208 | Flap | +-------+-------------------------------------------+ | 211 | Walking Height | +-------+-------------------------------------------+ | 212 | Mount1 Roll | +-------+-------------------------------------------+ | 213 | Mount1 Pitch | +-------+-------------------------------------------+ | 214 | Mount1 Yaw | +-------+-------------------------------------------+ | 215 | Mount2 Roll | +-------+-------------------------------------------+ | 216 | Mount2 Pitch | +-------+-------------------------------------------+ | 217 | Mount2 Yaw | +-------+-------------------------------------------+ | 218 | Loweheiser throttle | +-------+-------------------------------------------+ | 300 | Scripting1 | +-------+-------------------------------------------+ | 301 | Scripting2 | +-------+-------------------------------------------+ | 302 | Scripting3 | +-------+-------------------------------------------+ | 303 | Scripting4 | +-------+-------------------------------------------+ | 304 | Scripting5 | +-------+-------------------------------------------+ | 305 | Scripting6 | +-------+-------------------------------------------+ | 306 | Scripting7 | +-------+-------------------------------------------+ | 307 | Scripting8 | +-------+-------------------------------------------+ | 308 | Scripting9 | +-------+-------------------------------------------+ | 309 | Scripting10 | +-------+-------------------------------------------+ | 310 | Scripting11 | +-------+-------------------------------------------+ | 311 | Scripting12 | +-------+-------------------------------------------+ | 312 | Scripting13 | +-------+-------------------------------------------+ | 313 | Scripting14 | +-------+-------------------------------------------+ | 314 | Scripting15 | +-------+-------------------------------------------+ | 315 | Scripting16 | +-------+-------------------------------------------+ | 316 | Stop-Restart Scripting | +-------+-------------------------------------------+ .. _parameters_RCMAP_: RCMAP\_ Parameters ------------------ .. _RCMAP_ROLL: RCMAP\_ROLL: Roll channel ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Roll channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Roll is normally on channel 1\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 16 | +-----------+---------+ .. _RCMAP_PITCH: RCMAP\_PITCH: Pitch channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Pitch channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Pitch is normally on channel 2\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 16 | +-----------+---------+ .. _RCMAP_THROTTLE: RCMAP\_THROTTLE: Throttle channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 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\. Reboot is required for changes to take effect\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 16 | +-----------+---------+ .. _RCMAP_YAW: RCMAP\_YAW: Yaw channel ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Yaw channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Yaw \(also known as rudder\) is normally on channel 4\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 16 | +-----------+---------+ .. _parameters_RELAY1_: RELAY1\_ Parameters ------------------- .. _RELAY1_FUNCTION: RELAY1\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY1_PIN: RELAY1\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY1_DEFAULT: RELAY1\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY1_INVERTED: RELAY1\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY2_: RELAY2\_ Parameters ------------------- .. _RELAY2_FUNCTION: RELAY2\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY2_PIN: RELAY2\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY2_DEFAULT: RELAY2\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY2_INVERTED: RELAY2\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY3_: RELAY3\_ Parameters ------------------- .. _RELAY3_FUNCTION: RELAY3\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY3_PIN: RELAY3\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY3_DEFAULT: RELAY3\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY3_INVERTED: RELAY3\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY4_: RELAY4\_ Parameters ------------------- .. _RELAY4_FUNCTION: RELAY4\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY4_PIN: RELAY4\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY4_DEFAULT: RELAY4\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY4_INVERTED: RELAY4\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY5_: RELAY5\_ Parameters ------------------- .. _RELAY5_FUNCTION: RELAY5\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY5_PIN: RELAY5\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY5_DEFAULT: RELAY5\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY5_INVERTED: RELAY5\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY6_: RELAY6\_ Parameters ------------------- .. _RELAY6_FUNCTION: RELAY6\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY6_PIN: RELAY6\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY6_DEFAULT: RELAY6\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY6_INVERTED: RELAY6\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY7_: RELAY7\_ Parameters ------------------- .. _RELAY7_FUNCTION: RELAY7\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY7_PIN: RELAY7\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY7_DEFAULT: RELAY7\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY7_INVERTED: RELAY7\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY8_: RELAY8\_ Parameters ------------------- .. _RELAY8_FUNCTION: RELAY8\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY8_PIN: RELAY8\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY8_DEFAULT: RELAY8\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY8_INVERTED: RELAY8\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY9_: RELAY9\_ Parameters ------------------- .. _RELAY9_FUNCTION: RELAY9\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY9_PIN: RELAY9\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY9_DEFAULT: RELAY9\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY9_INVERTED: RELAY9\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY10_: RELAY10\_ Parameters -------------------- .. _RELAY10_FUNCTION: RELAY10\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY10_PIN: RELAY10\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY10_DEFAULT: RELAY10\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY10_INVERTED: RELAY10\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY11_: RELAY11\_ Parameters -------------------- .. _RELAY11_FUNCTION: RELAY11\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY11_PIN: RELAY11\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY11_DEFAULT: RELAY11\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY11_INVERTED: RELAY11\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY12_: RELAY12\_ Parameters -------------------- .. _RELAY12_FUNCTION: RELAY12\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY12_PIN: RELAY12\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY12_DEFAULT: RELAY12\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY12_INVERTED: RELAY12\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY13_: RELAY13\_ Parameters -------------------- .. _RELAY13_FUNCTION: RELAY13\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY13_PIN: RELAY13\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY13_DEFAULT: RELAY13\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY13_INVERTED: RELAY13\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY14_: RELAY14\_ Parameters -------------------- .. _RELAY14_FUNCTION: RELAY14\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY14_PIN: RELAY14\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY14_DEFAULT: RELAY14\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY14_INVERTED: RELAY14\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY15_: RELAY15\_ Parameters -------------------- .. _RELAY15_FUNCTION: RELAY15\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY15_PIN: RELAY15\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY15_DEFAULT: RELAY15\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY15_INVERTED: RELAY15\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RELAY16_: RELAY16\_ Parameters -------------------- .. _RELAY16_FUNCTION: RELAY16\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------+------------------------------------------------------------------+ | Value | Meaning | +=======+==================================================================+ | 0 | None | +-------+------------------------------------------------------------------+ | 1 | Relay | +-------+------------------------------------------------------------------+ | 4 | Camera | +-------+------------------------------------------------------------------+ | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | +-------+------------------------------------------------------------------+ | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | +-------+------------------------------------------------------------------+ | 7 | Bushed motor reverse 3 omni motor 3 | +-------+------------------------------------------------------------------+ | 8 | Bushed motor reverse 4 omni motor 4 | +-------+------------------------------------------------------------------+ .. _RELAY16_PIN: RELAY16\_PIN: Relay pin ~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | -1 | Disabled | +-------+--------------------------+ | 49 | BB Blue GP0 pin 4 | +-------+--------------------------+ | 50 | AUXOUT1 | +-------+--------------------------+ | 51 | AUXOUT2 | +-------+--------------------------+ | 52 | AUXOUT3 | +-------+--------------------------+ | 53 | AUXOUT4 | +-------+--------------------------+ | 54 | AUXOUT5 | +-------+--------------------------+ | 55 | AUXOUT6 | +-------+--------------------------+ | 57 | BB Blue GP0 pin 3 | +-------+--------------------------+ | 113 | BB Blue GP0 pin 6 | +-------+--------------------------+ | 116 | BB Blue GP0 pin 5 | +-------+--------------------------+ | 62 | BBBMini Pin P8.13 | +-------+--------------------------+ | 101 | MainOut1 | +-------+--------------------------+ | 102 | MainOut2 | +-------+--------------------------+ | 103 | MainOut3 | +-------+--------------------------+ | 104 | MainOut4 | +-------+--------------------------+ | 105 | MainOut5 | +-------+--------------------------+ | 106 | MainOut6 | +-------+--------------------------+ | 107 | MainOut7 | +-------+--------------------------+ | 108 | MainOut8 | +-------+--------------------------+ | 1000 | DroneCAN Hardpoint ID 0 | +-------+--------------------------+ | 1001 | DroneCAN Hardpoint ID 1 | +-------+--------------------------+ | 1002 | DroneCAN Hardpoint ID 2 | +-------+--------------------------+ | 1003 | DroneCAN Hardpoint ID 3 | +-------+--------------------------+ | 1004 | DroneCAN Hardpoint ID 4 | +-------+--------------------------+ | 1005 | DroneCAN Hardpoint ID 5 | +-------+--------------------------+ | 1006 | DroneCAN Hardpoint ID 6 | +-------+--------------------------+ | 1007 | DroneCAN Hardpoint ID 7 | +-------+--------------------------+ | 1008 | DroneCAN Hardpoint ID 8 | +-------+--------------------------+ | 1009 | DroneCAN Hardpoint ID 9 | +-------+--------------------------+ | 1010 | DroneCAN Hardpoint ID 10 | +-------+--------------------------+ | 1011 | DroneCAN Hardpoint ID 11 | +-------+--------------------------+ | 1012 | DroneCAN Hardpoint ID 12 | +-------+--------------------------+ | 1013 | DroneCAN Hardpoint ID 13 | +-------+--------------------------+ | 1014 | DroneCAN Hardpoint ID 14 | +-------+--------------------------+ | 1015 | DroneCAN Hardpoint ID 15 | +-------+--------------------------+ +------------+ | Range | +============+ | -1 to 1015 | +------------+ .. _RELAY16_DEFAULT: RELAY16\_DEFAULT: Relay default state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Off | +-------+----------+ | 1 | On | +-------+----------+ | 2 | NoChange | +-------+----------+ .. _RELAY16_INVERTED: RELAY16\_INVERTED: Relay invert output signal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Inverted | +-------+----------+ .. _parameters_RNGFND1_: RNGFND1\_ Parameters -------------------- .. _RNGFND1_TYPE: RNGFND1\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFND1_PIN: RNGFND1\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND1_SCALING: RNGFND1\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFND1_OFFSET: RNGFND1\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFND1_FUNCTION: RNGFND1\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFND1_MIN: RNGFND1\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND1_MAX: RNGFND1\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND1_STOP_PIN: RNGFND1\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND1_RMETRIC: RNGFND1\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFND1_PWRRNG: RNGFND1\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFND1_GNDCLR: RNGFND1\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFND1_ADDR: RNGFND1\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFND1_POS_X: RNGFND1\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND1_POS_Y: RNGFND1\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND1_POS_Z: RNGFND1\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND1_ORIENT: RNGFND1\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFND1_WSP_MAVG: RNGFND1\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND1_WSP_MEDF: RNGFND1\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND1_WSP_FRQ: RNGFND1\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFND1_WSP_AVG: RNGFND1\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND1_WSP_THR: RNGFND1\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFND1_WSP_BAUD: RNGFND1\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFND1_RECV_ID: RNGFND1\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFND1_SNR_MIN: RNGFND1\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFND1_GRF_: RNGFND1\_GRF\_ Parameters ------------------------- .. _RNGFND1_GRF_RET: RNGFND1\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFND1_GRF_ST: RNGFND1\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND1_GRF_RATE: RNGFND1\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RNGFND2_: RNGFND2\_ Parameters -------------------- .. _RNGFND2_TYPE: RNGFND2\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFND2_PIN: RNGFND2\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND2_SCALING: RNGFND2\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFND2_OFFSET: RNGFND2\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFND2_FUNCTION: RNGFND2\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFND2_MIN: RNGFND2\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND2_MAX: RNGFND2\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND2_STOP_PIN: RNGFND2\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND2_RMETRIC: RNGFND2\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFND2_PWRRNG: RNGFND2\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFND2_GNDCLR: RNGFND2\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFND2_ADDR: RNGFND2\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFND2_POS_X: RNGFND2\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND2_POS_Y: RNGFND2\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND2_POS_Z: RNGFND2\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND2_ORIENT: RNGFND2\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFND2_WSP_MAVG: RNGFND2\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND2_WSP_MEDF: RNGFND2\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND2_WSP_FRQ: RNGFND2\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFND2_WSP_AVG: RNGFND2\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND2_WSP_THR: RNGFND2\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFND2_WSP_BAUD: RNGFND2\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFND2_RECV_ID: RNGFND2\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFND2_SNR_MIN: RNGFND2\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFND2_GRF_: RNGFND2\_GRF\_ Parameters ------------------------- .. _RNGFND2_GRF_RET: RNGFND2\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFND2_GRF_ST: RNGFND2\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND2_GRF_RATE: RNGFND2\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RNGFND3_: RNGFND3\_ Parameters -------------------- .. _RNGFND3_TYPE: RNGFND3\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFND3_PIN: RNGFND3\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND3_SCALING: RNGFND3\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFND3_OFFSET: RNGFND3\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFND3_FUNCTION: RNGFND3\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFND3_MIN: RNGFND3\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND3_MAX: RNGFND3\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND3_STOP_PIN: RNGFND3\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND3_RMETRIC: RNGFND3\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFND3_PWRRNG: RNGFND3\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFND3_GNDCLR: RNGFND3\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFND3_ADDR: RNGFND3\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFND3_POS_X: RNGFND3\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND3_POS_Y: RNGFND3\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND3_POS_Z: RNGFND3\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND3_ORIENT: RNGFND3\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFND3_WSP_MAVG: RNGFND3\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND3_WSP_MEDF: RNGFND3\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND3_WSP_FRQ: RNGFND3\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFND3_WSP_AVG: RNGFND3\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND3_WSP_THR: RNGFND3\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFND3_WSP_BAUD: RNGFND3\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFND3_RECV_ID: RNGFND3\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFND3_SNR_MIN: RNGFND3\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFND3_GRF_: RNGFND3\_GRF\_ Parameters ------------------------- .. _RNGFND3_GRF_RET: RNGFND3\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFND3_GRF_ST: RNGFND3\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND3_GRF_RATE: RNGFND3\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RNGFND4_: RNGFND4\_ Parameters -------------------- .. _RNGFND4_TYPE: RNGFND4\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFND4_PIN: RNGFND4\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND4_SCALING: RNGFND4\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFND4_OFFSET: RNGFND4\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFND4_FUNCTION: RNGFND4\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFND4_MIN: RNGFND4\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND4_MAX: RNGFND4\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND4_STOP_PIN: RNGFND4\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND4_RMETRIC: RNGFND4\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFND4_PWRRNG: RNGFND4\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFND4_GNDCLR: RNGFND4\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFND4_ADDR: RNGFND4\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFND4_POS_X: RNGFND4\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND4_POS_Y: RNGFND4\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND4_POS_Z: RNGFND4\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND4_ORIENT: RNGFND4\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFND4_WSP_MAVG: RNGFND4\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND4_WSP_MEDF: RNGFND4\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND4_WSP_FRQ: RNGFND4\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFND4_WSP_AVG: RNGFND4\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND4_WSP_THR: RNGFND4\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFND4_WSP_BAUD: RNGFND4\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFND4_RECV_ID: RNGFND4\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFND4_SNR_MIN: RNGFND4\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFND4_GRF_: RNGFND4\_GRF\_ Parameters ------------------------- .. _RNGFND4_GRF_RET: RNGFND4\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFND4_GRF_ST: RNGFND4\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND4_GRF_RATE: RNGFND4\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RNGFND5_: RNGFND5\_ Parameters -------------------- .. _RNGFND5_TYPE: RNGFND5\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFND5_PIN: RNGFND5\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND5_SCALING: RNGFND5\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFND5_OFFSET: RNGFND5\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFND5_FUNCTION: RNGFND5\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFND5_MIN: RNGFND5\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND5_MAX: RNGFND5\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND5_STOP_PIN: RNGFND5\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND5_RMETRIC: RNGFND5\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFND5_PWRRNG: RNGFND5\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFND5_GNDCLR: RNGFND5\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFND5_ADDR: RNGFND5\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFND5_POS_X: RNGFND5\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND5_POS_Y: RNGFND5\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND5_POS_Z: RNGFND5\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND5_ORIENT: RNGFND5\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFND5_WSP_MAVG: RNGFND5\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND5_WSP_MEDF: RNGFND5\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND5_WSP_FRQ: RNGFND5\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFND5_WSP_AVG: RNGFND5\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND5_WSP_THR: RNGFND5\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFND5_WSP_BAUD: RNGFND5\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFND5_RECV_ID: RNGFND5\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFND5_SNR_MIN: RNGFND5\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFND5_GRF_: RNGFND5\_GRF\_ Parameters ------------------------- .. _RNGFND5_GRF_RET: RNGFND5\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFND5_GRF_ST: RNGFND5\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND5_GRF_RATE: RNGFND5\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RNGFND6_: RNGFND6\_ Parameters -------------------- .. _RNGFND6_TYPE: RNGFND6\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFND6_PIN: RNGFND6\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND6_SCALING: RNGFND6\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFND6_OFFSET: RNGFND6\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFND6_FUNCTION: RNGFND6\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFND6_MIN: RNGFND6\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND6_MAX: RNGFND6\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND6_STOP_PIN: RNGFND6\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND6_RMETRIC: RNGFND6\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFND6_PWRRNG: RNGFND6\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFND6_GNDCLR: RNGFND6\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFND6_ADDR: RNGFND6\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFND6_POS_X: RNGFND6\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND6_POS_Y: RNGFND6\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND6_POS_Z: RNGFND6\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND6_ORIENT: RNGFND6\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFND6_WSP_MAVG: RNGFND6\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND6_WSP_MEDF: RNGFND6\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND6_WSP_FRQ: RNGFND6\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFND6_WSP_AVG: RNGFND6\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND6_WSP_THR: RNGFND6\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFND6_WSP_BAUD: RNGFND6\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFND6_RECV_ID: RNGFND6\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFND6_SNR_MIN: RNGFND6\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFND6_GRF_: RNGFND6\_GRF\_ Parameters ------------------------- .. _RNGFND6_GRF_RET: RNGFND6\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFND6_GRF_ST: RNGFND6\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND6_GRF_RATE: RNGFND6\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RNGFND7_: RNGFND7\_ Parameters -------------------- .. _RNGFND7_TYPE: RNGFND7\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFND7_PIN: RNGFND7\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND7_SCALING: RNGFND7\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFND7_OFFSET: RNGFND7\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFND7_FUNCTION: RNGFND7\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFND7_MIN: RNGFND7\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND7_MAX: RNGFND7\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND7_STOP_PIN: RNGFND7\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND7_RMETRIC: RNGFND7\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFND7_PWRRNG: RNGFND7\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFND7_GNDCLR: RNGFND7\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFND7_ADDR: RNGFND7\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFND7_POS_X: RNGFND7\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND7_POS_Y: RNGFND7\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND7_POS_Z: RNGFND7\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND7_ORIENT: RNGFND7\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFND7_WSP_MAVG: RNGFND7\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND7_WSP_MEDF: RNGFND7\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND7_WSP_FRQ: RNGFND7\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFND7_WSP_AVG: RNGFND7\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND7_WSP_THR: RNGFND7\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFND7_WSP_BAUD: RNGFND7\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFND7_RECV_ID: RNGFND7\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFND7_SNR_MIN: RNGFND7\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFND7_GRF_: RNGFND7\_GRF\_ Parameters ------------------------- .. _RNGFND7_GRF_RET: RNGFND7\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFND7_GRF_ST: RNGFND7\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND7_GRF_RATE: RNGFND7\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RNGFND8_: RNGFND8\_ Parameters -------------------- .. _RNGFND8_TYPE: RNGFND8\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFND8_PIN: RNGFND8\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND8_SCALING: RNGFND8\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFND8_OFFSET: RNGFND8\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFND8_FUNCTION: RNGFND8\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFND8_MIN: RNGFND8\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND8_MAX: RNGFND8\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND8_STOP_PIN: RNGFND8\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND8_RMETRIC: RNGFND8\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFND8_PWRRNG: RNGFND8\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFND8_GNDCLR: RNGFND8\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFND8_ADDR: RNGFND8\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFND8_POS_X: RNGFND8\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND8_POS_Y: RNGFND8\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND8_POS_Z: RNGFND8\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND8_ORIENT: RNGFND8\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFND8_WSP_MAVG: RNGFND8\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND8_WSP_MEDF: RNGFND8\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND8_WSP_FRQ: RNGFND8\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFND8_WSP_AVG: RNGFND8\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND8_WSP_THR: RNGFND8\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFND8_WSP_BAUD: RNGFND8\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFND8_RECV_ID: RNGFND8\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFND8_SNR_MIN: RNGFND8\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFND8_GRF_: RNGFND8\_GRF\_ Parameters ------------------------- .. _RNGFND8_GRF_RET: RNGFND8\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFND8_GRF_ST: RNGFND8\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND8_GRF_RATE: RNGFND8\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RNGFND9_: RNGFND9\_ Parameters -------------------- .. _RNGFND9_TYPE: RNGFND9\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFND9_PIN: RNGFND9\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND9_SCALING: RNGFND9\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFND9_OFFSET: RNGFND9\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFND9_FUNCTION: RNGFND9\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFND9_MIN: RNGFND9\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND9_MAX: RNGFND9\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFND9_STOP_PIN: RNGFND9\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFND9_RMETRIC: RNGFND9\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFND9_PWRRNG: RNGFND9\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFND9_GNDCLR: RNGFND9\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFND9_ADDR: RNGFND9\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFND9_POS_X: RNGFND9\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND9_POS_Y: RNGFND9\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND9_POS_Z: RNGFND9\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFND9_ORIENT: RNGFND9\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFND9_WSP_MAVG: RNGFND9\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND9_WSP_MEDF: RNGFND9\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND9_WSP_FRQ: RNGFND9\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFND9_WSP_AVG: RNGFND9\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND9_WSP_THR: RNGFND9\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFND9_WSP_BAUD: RNGFND9\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFND9_RECV_ID: RNGFND9\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFND9_SNR_MIN: RNGFND9\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFND9_GRF_: RNGFND9\_GRF\_ Parameters ------------------------- .. _RNGFND9_GRF_RET: RNGFND9\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFND9_GRF_ST: RNGFND9\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFND9_GRF_RATE: RNGFND9\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RNGFNDA_: RNGFNDA\_ Parameters -------------------- .. _RNGFNDA_TYPE: RNGFNDA\_TYPE: Rangefinder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of connected rangefinder +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | Analog | +-------+------------------------+ | 2 | MaxbotixI2C | +-------+------------------------+ | 3 | LidarLite-I2C | +-------+------------------------+ | 5 | PWM | +-------+------------------------+ | 6 | BBB-PRU | +-------+------------------------+ | 7 | LightWareI2C | +-------+------------------------+ | 8 | LightWareSerial | +-------+------------------------+ | 9 | Bebop | +-------+------------------------+ | 10 | MAVLink | +-------+------------------------+ | 11 | USD1_Serial | +-------+------------------------+ | 12 | LeddarOne | +-------+------------------------+ | 13 | MaxbotixSerial | +-------+------------------------+ | 14 | TeraRangerI2C | +-------+------------------------+ | 15 | LidarLiteV3-I2C | +-------+------------------------+ | 16 | VL53L0X or VL53L1X | +-------+------------------------+ | 17 | NMEA | +-------+------------------------+ | 18 | WASP-LRF | +-------+------------------------+ | 19 | BenewakeTF02 | +-------+------------------------+ | 20 | BenewakeTFmini-Serial | +-------+------------------------+ | 21 | LidarLightV3HP | +-------+------------------------+ | 22 | PWM | +-------+------------------------+ | 23 | BlueRoboticsPing | +-------+------------------------+ | 24 | DroneCAN | +-------+------------------------+ | 25 | BenewakeTFmini-I2C | +-------+------------------------+ | 26 | LanbaoPSK-CM8JL65-CC5 | +-------+------------------------+ | 27 | BenewakeTF03 | +-------+------------------------+ | 28 | VL53L1X-ShortRange | +-------+------------------------+ | 29 | LeddarVu8-Serial | +-------+------------------------+ | 30 | HC-SR04 | +-------+------------------------+ | 31 | GYUS42v2 | +-------+------------------------+ | 32 | MSP | +-------+------------------------+ | 33 | USD1_CAN | +-------+------------------------+ | 34 | Benewake_CAN | +-------+------------------------+ | 35 | TeraRangerSerial | +-------+------------------------+ | 36 | Lua_Scripting | +-------+------------------------+ | 37 | NoopLoop_TOFSense | +-------+------------------------+ | 38 | NoopLoop_TOFSense_CAN | +-------+------------------------+ | 39 | NRA24_CAN | +-------+------------------------+ | 40 | NoopLoop_TOFSenseF_I2C | +-------+------------------------+ | 41 | JRE_Serial | +-------+------------------------+ | 42 | Ainstein_LR_D1 | +-------+------------------------+ | 43 | RDS02UF | +-------+------------------------+ | 44 | HexsoonRadar | +-------+------------------------+ | 45 | LightWare-GRF | +-------+------------------------+ | 46 | BenewakeTFS20L-I2C | +-------+------------------------+ | 47 | DTS6012M-Serial | +-------+------------------------+ | 48 | LightWare-GRF-I2C | +-------+------------------------+ | 100 | SITL | +-------+------------------------+ .. _RNGFNDA_PIN: RNGFNDA\_PIN: Rangefinder pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | -1 | Not Used | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFNDA_SCALING: RNGFNDA\_SCALING: Rangefinder scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. +-----------+-----------------+ | Increment | Units | +===========+=================+ | 0.001 | meters per volt | +-----------+-----------------+ .. _RNGFNDA_OFFSET: RNGFNDA\_OFFSET: rangefinder offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars +-----------+-------+ | Increment | Units | +===========+=======+ | 0.001 | volt | +-----------+-------+ .. _RNGFNDA_FUNCTION: RNGFNDA\_FUNCTION: Rangefinder function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Linear | +-------+------------+ | 1 | Inverted | +-------+------------+ | 2 | Hyperbolic | +-------+------------+ .. _RNGFNDA_MIN: RNGFNDA\_MIN: Rangefinder minimum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFNDA_MAX: RNGFNDA\_MAX: Rangefinder maximum distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum distance in metres that rangefinder can reliably read +-----------+--------+ | Increment | Units | +===========+========+ | 0.01 | meters | +-----------+--------+ .. _RNGFNDA_STOP_PIN: RNGFNDA\_STOP\_PIN: Rangefinder stop pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin that enables\/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------------+ | Value | Meaning | +=======+================+ | -1 | Not Used | +-------+----------------+ | 50 | AUX1 | +-------+----------------+ | 51 | AUX2 | +-------+----------------+ | 52 | AUX3 | +-------+----------------+ | 53 | AUX4 | +-------+----------------+ | 54 | AUX5 | +-------+----------------+ | 55 | AUX6 | +-------+----------------+ | 111 | PX4 FMU Relay1 | +-------+----------------+ | 112 | PX4 FMU Relay2 | +-------+----------------+ | 113 | PX4IO Relay1 | +-------+----------------+ | 114 | PX4IO Relay2 | +-------+----------------+ | 115 | PX4IO ACC1 | +-------+----------------+ | 116 | PX4IO ACC2 | +-------+----------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RNGFNDA_RMETRIC: RNGFNDA\_RMETRIC: Ratiometric ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | No | +-------+---------+ | 1 | Yes | +-------+---------+ .. _RNGFNDA_PWRRNG: RNGFNDA\_PWRRNG: Powersave range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _RNGFNDA_GNDCLR: RNGFNDA\_GNDCLR: Distance from the range finder to the ground ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.01 | 0.05 to 1.5 | meters | +-----------+-------------+--------+ .. _RNGFNDA_ADDR: RNGFNDA\_ADDR: Bus address of sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. For MAVLink rangefinders\, this sets the DISTANCE\_SENSOR message id to accept\. A value of zero accepts any id\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 127 | +-----------+----------+ .. _RNGFNDA_POS_X: RNGFNDA\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFNDA_POS_Y: RNGFNDA\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFNDA_POS_Z: RNGFNDA\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _RNGFNDA_ORIENT: RNGFNDA\_ORIENT: Rangefinder orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Orientation of rangefinder +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Forward | +-------+---------------+ | 1 | Forward-Right | +-------+---------------+ | 2 | Right | +-------+---------------+ | 3 | Back-Right | +-------+---------------+ | 4 | Back | +-------+---------------+ | 5 | Back-Left | +-------+---------------+ | 6 | Left | +-------+---------------+ | 7 | Forward-Left | +-------+---------------+ | 24 | Up | +-------+---------------+ | 25 | Down | +-------+---------------+ .. _RNGFNDA_WSP_MAVG: RNGFNDA\_WSP\_MAVG: Moving Average Range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFNDA_WSP_MEDF: RNGFNDA\_WSP\_MEDF: Moving Median Filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFNDA_WSP_FRQ: RNGFNDA\_WSP\_FRQ: Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _RNGFNDA_WSP_AVG: RNGFNDA\_WSP\_AVG: Multi\-pulse averages ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFNDA_WSP_THR: RNGFNDA\_WSP\_THR: Sensitivity threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments +-----------+ | Range | +===========+ | -1 to 255 | +-----------+ .. _RNGFNDA_WSP_BAUD: RNGFNDA\_WSP\_BAUD: Baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired baud rate +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Low Speed | +-------+------------+ | 1 | High Speed | +-------+------------+ .. _RNGFNDA_RECV_ID: RNGFNDA\_RECV\_ID: RangeFinder CAN receive ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _RNGFNDA_SNR_MIN: RNGFNDA\_SNR\_MIN: RangeFinder Minimum signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RangeFinder Minimum signal strength \(SNR\) to accept distance +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_RNGFNDA_GRF_: RNGFNDA\_GRF\_ Parameters ------------------------- .. _RNGFNDA_GRF_RET: RNGFNDA\_GRF\_RET: LightWare GRF Distance Return Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Selects which single return to use\. +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | FirstRaw | +-------+---------------+ | 1 | FirstFiltered | +-------+---------------+ | 2 | LastRaw | +-------+---------------+ | 3 | LastFiltered | +-------+---------------+ .. _RNGFNDA_GRF_ST: RNGFNDA\_GRF\_ST: LightWare GRF Minimum Return Strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Minimum acceptable return signal strength in dB\. Returns weaker than this will be ignored\. Set to 0 to disable filtering\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _RNGFNDA_GRF_RATE: RNGFNDA\_GRF\_RATE: LightWare GRF Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* The update rate of the sensor in Hz\. +---------+ | Range | +=========+ | 1 to 50 | +---------+ .. _parameters_RPM1_: RPM1\_ Parameters ----------------- .. _RPM1_TYPE: RPM1\_TYPE: RPM type ~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of RPM sensor is connected +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | None | +-------+------------------------------+ | 1 | Not Used | +-------+------------------------------+ | 2 | GPIO | +-------+------------------------------+ | 3 | EFI | +-------+------------------------------+ | 4 | Harmonic Notch | +-------+------------------------------+ | 5 | ESC Telemetry Motors Bitmask | +-------+------------------------------+ | 6 | Generator | +-------+------------------------------+ | 7 | DroneCAN | +-------+------------------------------+ .. _RPM1_SCALING: RPM1\_SCALING: RPM scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between sensor reading and RPM\. +-----------+ | Increment | +===========+ | 0.001 | +-----------+ .. _RPM1_MAX: RPM1\_MAX: Maximum RPM ~~~~~~~~~~~~~~~~~~~~~~ Maximum RPM to report\. Only used on type \= GPIO\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _RPM1_MIN: RPM1\_MIN: Minimum RPM ~~~~~~~~~~~~~~~~~~~~~~ Minimum RPM to report\. Only used on type \= GPIO\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _RPM1_MIN_QUAL: RPM1\_MIN\_QUAL: Minimum Quality ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum data quality to be used +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _RPM1_PIN: RPM1\_PIN: Input pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RPM1_ESC_MASK: RPM1\_ESC\_MASK: Bitmask of ESC telemetry channels to average ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | Channel1 | +-----+-----------+ | 1 | Channel2 | +-----+-----------+ | 2 | Channel3 | +-----+-----------+ | 3 | Channel4 | +-----+-----------+ | 4 | Channel5 | +-----+-----------+ | 5 | Channel6 | +-----+-----------+ | 6 | Channel7 | +-----+-----------+ | 7 | Channel8 | +-----+-----------+ | 8 | Channel9 | +-----+-----------+ | 9 | Channel10 | +-----+-----------+ | 10 | Channel11 | +-----+-----------+ | 11 | Channel12 | +-----+-----------+ | 12 | Channel13 | +-----+-----------+ | 13 | Channel14 | +-----+-----------+ | 14 | Channel15 | +-----+-----------+ | 15 | Channel16 | +-----+-----------+ .. _RPM1_ESC_INDEX: RPM1\_ESC\_INDEX: ESC Telemetry Index to write RPM to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write RPM to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _RPM1_DC_ID: RPM1\_DC\_ID: DroneCAN Sensor ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN sensor ID to assign to this backend +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -1 to 10 | +-----------+----------+ .. _parameters_RPM2_: RPM2\_ Parameters ----------------- .. _RPM2_TYPE: RPM2\_TYPE: RPM type ~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of RPM sensor is connected +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | None | +-------+------------------------------+ | 1 | Not Used | +-------+------------------------------+ | 2 | GPIO | +-------+------------------------------+ | 3 | EFI | +-------+------------------------------+ | 4 | Harmonic Notch | +-------+------------------------------+ | 5 | ESC Telemetry Motors Bitmask | +-------+------------------------------+ | 6 | Generator | +-------+------------------------------+ | 7 | DroneCAN | +-------+------------------------------+ .. _RPM2_SCALING: RPM2\_SCALING: RPM scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between sensor reading and RPM\. +-----------+ | Increment | +===========+ | 0.001 | +-----------+ .. _RPM2_MAX: RPM2\_MAX: Maximum RPM ~~~~~~~~~~~~~~~~~~~~~~ Maximum RPM to report\. Only used on type \= GPIO\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _RPM2_MIN: RPM2\_MIN: Minimum RPM ~~~~~~~~~~~~~~~~~~~~~~ Minimum RPM to report\. Only used on type \= GPIO\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _RPM2_MIN_QUAL: RPM2\_MIN\_QUAL: Minimum Quality ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum data quality to be used +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _RPM2_PIN: RPM2\_PIN: Input pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RPM2_ESC_MASK: RPM2\_ESC\_MASK: Bitmask of ESC telemetry channels to average ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | Channel1 | +-----+-----------+ | 1 | Channel2 | +-----+-----------+ | 2 | Channel3 | +-----+-----------+ | 3 | Channel4 | +-----+-----------+ | 4 | Channel5 | +-----+-----------+ | 5 | Channel6 | +-----+-----------+ | 6 | Channel7 | +-----+-----------+ | 7 | Channel8 | +-----+-----------+ | 8 | Channel9 | +-----+-----------+ | 9 | Channel10 | +-----+-----------+ | 10 | Channel11 | +-----+-----------+ | 11 | Channel12 | +-----+-----------+ | 12 | Channel13 | +-----+-----------+ | 13 | Channel14 | +-----+-----------+ | 14 | Channel15 | +-----+-----------+ | 15 | Channel16 | +-----+-----------+ .. _RPM2_ESC_INDEX: RPM2\_ESC\_INDEX: ESC Telemetry Index to write RPM to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write RPM to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _RPM2_DC_ID: RPM2\_DC\_ID: DroneCAN Sensor ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN sensor ID to assign to this backend +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -1 to 10 | +-----------+----------+ .. _parameters_RPM3_: RPM3\_ Parameters ----------------- .. _RPM3_TYPE: RPM3\_TYPE: RPM type ~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of RPM sensor is connected +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | None | +-------+------------------------------+ | 1 | Not Used | +-------+------------------------------+ | 2 | GPIO | +-------+------------------------------+ | 3 | EFI | +-------+------------------------------+ | 4 | Harmonic Notch | +-------+------------------------------+ | 5 | ESC Telemetry Motors Bitmask | +-------+------------------------------+ | 6 | Generator | +-------+------------------------------+ | 7 | DroneCAN | +-------+------------------------------+ .. _RPM3_SCALING: RPM3\_SCALING: RPM scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between sensor reading and RPM\. +-----------+ | Increment | +===========+ | 0.001 | +-----------+ .. _RPM3_MAX: RPM3\_MAX: Maximum RPM ~~~~~~~~~~~~~~~~~~~~~~ Maximum RPM to report\. Only used on type \= GPIO\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _RPM3_MIN: RPM3\_MIN: Minimum RPM ~~~~~~~~~~~~~~~~~~~~~~ Minimum RPM to report\. Only used on type \= GPIO\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _RPM3_MIN_QUAL: RPM3\_MIN\_QUAL: Minimum Quality ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum data quality to be used +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _RPM3_PIN: RPM3\_PIN: Input pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RPM3_ESC_MASK: RPM3\_ESC\_MASK: Bitmask of ESC telemetry channels to average ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | Channel1 | +-----+-----------+ | 1 | Channel2 | +-----+-----------+ | 2 | Channel3 | +-----+-----------+ | 3 | Channel4 | +-----+-----------+ | 4 | Channel5 | +-----+-----------+ | 5 | Channel6 | +-----+-----------+ | 6 | Channel7 | +-----+-----------+ | 7 | Channel8 | +-----+-----------+ | 8 | Channel9 | +-----+-----------+ | 9 | Channel10 | +-----+-----------+ | 10 | Channel11 | +-----+-----------+ | 11 | Channel12 | +-----+-----------+ | 12 | Channel13 | +-----+-----------+ | 13 | Channel14 | +-----+-----------+ | 14 | Channel15 | +-----+-----------+ | 15 | Channel16 | +-----+-----------+ .. _RPM3_ESC_INDEX: RPM3\_ESC\_INDEX: ESC Telemetry Index to write RPM to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write RPM to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _RPM3_DC_ID: RPM3\_DC\_ID: DroneCAN Sensor ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN sensor ID to assign to this backend +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -1 to 10 | +-----------+----------+ .. _parameters_RPM4_: RPM4\_ Parameters ----------------- .. _RPM4_TYPE: RPM4\_TYPE: RPM type ~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of RPM sensor is connected +-------+------------------------------+ | Value | Meaning | +=======+==============================+ | 0 | None | +-------+------------------------------+ | 1 | Not Used | +-------+------------------------------+ | 2 | GPIO | +-------+------------------------------+ | 3 | EFI | +-------+------------------------------+ | 4 | Harmonic Notch | +-------+------------------------------+ | 5 | ESC Telemetry Motors Bitmask | +-------+------------------------------+ | 6 | Generator | +-------+------------------------------+ | 7 | DroneCAN | +-------+------------------------------+ .. _RPM4_SCALING: RPM4\_SCALING: RPM scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~ Scaling factor between sensor reading and RPM\. +-----------+ | Increment | +===========+ | 0.001 | +-----------+ .. _RPM4_MAX: RPM4\_MAX: Maximum RPM ~~~~~~~~~~~~~~~~~~~~~~ Maximum RPM to report\. Only used on type \= GPIO\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _RPM4_MIN: RPM4\_MIN: Minimum RPM ~~~~~~~~~~~~~~~~~~~~~~ Minimum RPM to report\. Only used on type \= GPIO\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _RPM4_MIN_QUAL: RPM4\_MIN\_QUAL: Minimum Quality ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum data quality to be used +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _RPM4_PIN: RPM4\_PIN: Input pin number ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RPM4_ESC_MASK: RPM4\_ESC\_MASK: Bitmask of ESC telemetry channels to average ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | Channel1 | +-----+-----------+ | 1 | Channel2 | +-----+-----------+ | 2 | Channel3 | +-----+-----------+ | 3 | Channel4 | +-----+-----------+ | 4 | Channel5 | +-----+-----------+ | 5 | Channel6 | +-----+-----------+ | 6 | Channel7 | +-----+-----------+ | 7 | Channel8 | +-----+-----------+ | 8 | Channel9 | +-----+-----------+ | 9 | Channel10 | +-----+-----------+ | 10 | Channel11 | +-----+-----------+ | 11 | Channel12 | +-----+-----------+ | 12 | Channel13 | +-----+-----------+ | 13 | Channel14 | +-----+-----------+ | 14 | Channel15 | +-----+-----------+ | 15 | Channel16 | +-----+-----------+ .. _RPM4_ESC_INDEX: RPM4\_ESC\_INDEX: ESC Telemetry Index to write RPM to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ESC Telemetry Index to write RPM to\. Use 0 to disable\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _RPM4_DC_ID: RPM4\_DC\_ID: DroneCAN Sensor ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN sensor ID to assign to this backend +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -1 to 10 | +-----------+----------+ .. _parameters_RSSI_: RSSI\_ Parameters ----------------- .. _RSSI_TYPE: RSSI\_TYPE: RSSI Type ~~~~~~~~~~~~~~~~~~~~~ Radio Receiver RSSI type\. If your radio receiver supports RSSI of some kind\, set it here\, then set its associated RSSI\_XXXXX parameters\, if any\. +-------+--------------------+ | Value | Meaning | +=======+====================+ | 0 | Disabled | +-------+--------------------+ | 1 | AnalogPin | +-------+--------------------+ | 2 | RCChannelPwmValue | +-------+--------------------+ | 3 | ReceiverProtocol | +-------+--------------------+ | 4 | PWMInputPin | +-------+--------------------+ | 5 | TelemetryRadioRSSI | +-------+--------------------+ .. _RSSI_ANA_PIN: RSSI\_ANA\_PIN: Receiver RSSI sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pin used to read the RSSI voltage or PWM value\. Analog Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 8 | V5 Nano | +-------+---------------------------+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _RSSI_PIN_LOW: RSSI\_PIN\_LOW: RSSI pin\'s lowest voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers put out inverted values so this value may be higher than RSSI\_PIN\_HIGH\. When using pin 103\, the maximum value of the parameter is 3\.3V\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 0.01 | 0 to 5.0 | volt | +-----------+----------+-------+ .. _RSSI_PIN_HIGH: RSSI\_PIN\_HIGH: RSSI pin\'s highest voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers put out inverted values so this value may be lower than RSSI\_PIN\_LOW\. When using pin 103\, the maximum value of the parameter is 3\.3V\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 0.01 | 0 to 5.0 | volt | +-----------+----------+-------+ .. _RSSI_CHANNEL: RSSI\_CHANNEL: Receiver RSSI channel number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The channel number where RSSI will be output by the radio receiver \(5 and above\)\. +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _RSSI_CHAN_LOW: RSSI\_CHAN\_LOW: RSSI PWM low value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers output inverted values so this value may be lower than RSSI\_CHAN\_HIGH +-----------+---------------------+ | Range | Units | +===========+=====================+ | 0 to 2000 | PWM in microseconds | +-----------+---------------------+ .. _RSSI_CHAN_HIGH: RSSI\_CHAN\_HIGH: Receiver RSSI PWM high value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers output inverted values so this value may be higher than RSSI\_CHAN\_LOW +-----------+---------------------+ | Range | Units | +===========+=====================+ | 0 to 2000 | PWM in microseconds | +-----------+---------------------+ .. _parameters_SAIL_: SAIL\_ Parameters ----------------- .. _SAIL_ENABLE: SAIL\_ENABLE: Enable Sailboat ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This enables Sailboat functionality +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _SAIL_ANGLE_MIN: SAIL\_ANGLE\_MIN: Sail min angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mainsheet tight\, angle between centerline and boom +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 90 | degrees | +-----------+---------+---------+ .. _SAIL_ANGLE_MAX: SAIL\_ANGLE\_MAX: Sail max angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mainsheet loose\, angle between centerline and boom\. For direct\-control rotating masts\, the rotation angle at SERVOx\_MAX\/\_MIN\; for rotating masts\, this value can exceed 90 degrees if the linkages can physically rotate the mast past that angle\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 90 | degrees | +-----------+---------+---------+ .. _SAIL_ANGLE_IDEAL: SAIL\_ANGLE\_IDEAL: Sail ideal angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ideal angle between sail and apparent wind +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 90 | degrees | +-----------+---------+---------+ .. _SAIL_HEEL_MAX: SAIL\_HEEL\_MAX: Sailing maximum heel angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When in auto sail trim modes the heel will be limited to this value using PID control +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 90 | degrees | +-----------+---------+---------+ .. _SAIL_NO_GO_ANGLE: SAIL\_NO\_GO\_ANGLE: Sailing no go zone angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The typical closest angle to the wind the vehicle will sail at\. the vehicle will sail at this angle when going upwind +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 90 | degrees | +-----------+---------+---------+ .. _SAIL_WNDSPD_MIN: SAIL\_WNDSPD\_MIN: Sailboat minimum wind speed to sail in ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sailboat minimum wind speed to continue sail in\, at lower wind speeds the sailboat will motor if one is fitted +-----------+--------+-------------------+ | Increment | Range | Units | +===========+========+===================+ | 0.1 | 0 to 5 | meters per second | +-----------+--------+-------------------+ .. _SAIL_XTRACK_MAX: SAIL\_XTRACK\_MAX: Sailing vehicle max cross track error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The sail boat will tack when it reaches this cross track error\, defines a corridor of 2 times this value wide\, 0 disables +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 1 | 5 to 25 | meters | +-----------+---------+--------+ .. _SAIL_LOIT_RADIUS: SAIL\_LOIT\_RADIUS: Loiter radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When in sailing modes the vehicle will keep moving within this loiter radius +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 1 | 0 to 20 | meters | +-----------+---------+--------+ .. _parameters_SCHED_: SCHED\_ Parameters ------------------ .. _SCHED_DEBUG: SCHED\_DEBUG: Scheduler debug level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 | +-------+--------------+ .. _SCHED_LOOP_RATE: SCHED\_LOOP\_RATE: Scheduling main loop rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This controls the rate of the main control loop in Hz\. This should only be changed by developers\. This only takes effect on restart\. Values over 400 are considered highly experimental\. +-----------+-------+ | Range | Units | +===========+=======+ | 50 to 400 | hertz | +-----------+-------+ .. _SCHED_OPTIONS: SCHED\_OPTIONS: Scheduling options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls optional aspects of the scheduler\. +-----+---------------------------+ | Bit | Meaning | +=====+===========================+ | 0 | Enable per-task perf info | +-----+---------------------------+ .. _parameters_SCR_: SCR\_ Parameters ---------------- .. _SCR_ENABLE: SCR\_ENABLE: Enable Scripting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls if scripting is enabled +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | None | +-------+-------------+ | 1 | Lua Scripts | +-------+-------------+ .. _SCR_VM_I_COUNT: SCR\_VM\_I\_COUNT: Scripting Virtual Machine Instruction Count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time +-----------+-----------------+ | Increment | Range | +===========+=================+ | 10000 | 1000 to 1000000 | +-----------+-----------------+ .. _SCR_HEAP_SIZE: SCR\_HEAP\_SIZE: Scripting Heap Size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Amount of memory available for scripting +-----------+-----------------+ | Increment | Range | +===========+=================+ | 1024 | 1024 to 1048576 | +-----------+-----------------+ .. _SCR_DEBUG_OPTS: SCR\_DEBUG\_OPTS: Scripting Debug Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Debugging options +-----+----------------------------------------------------------------------------------------+ | Bit | Meaning | +=====+========================================================================================+ | 0 | No Scripts to run message if all scripts have stopped | +-----+----------------------------------------------------------------------------------------+ | 1 | Runtime messages for memory usage and execution time | +-----+----------------------------------------------------------------------------------------+ | 2 | Suppress logging scripts to dataflash | +-----+----------------------------------------------------------------------------------------+ | 3 | log runtime memory usage and execution time | +-----+----------------------------------------------------------------------------------------+ | 4 | Disable pre-arm check | +-----+----------------------------------------------------------------------------------------+ | 5 | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | +-----+----------------------------------------------------------------------------------------+ | 6 | Disable heap expansion on allocation failure | +-----+----------------------------------------------------------------------------------------+ .. _SCR_USER1: SCR\_USER1: Scripting User Parameter1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ General purpose user variable input for scripts .. _SCR_USER2: SCR\_USER2: Scripting User Parameter2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ General purpose user variable input for scripts .. _SCR_USER3: SCR\_USER3: Scripting User Parameter3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ General purpose user variable input for scripts .. _SCR_USER4: SCR\_USER4: Scripting User Parameter4 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ General purpose user variable input for scripts .. _SCR_USER5: SCR\_USER5: Scripting User Parameter5 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ General purpose user variable input for scripts .. _SCR_USER6: SCR\_USER6: Scripting User Parameter6 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ General purpose user variable input for scripts .. _SCR_DIR_DISABLE: SCR\_DIR\_DISABLE: Directory disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This will stop scripts being loaded from the given locations +-----+-------------+ | Bit | Meaning | +=====+=============+ | 0 | ROMFS | +-----+-------------+ | 1 | APM/scripts | +-----+-------------+ .. _SCR_LD_CHECKSUM: SCR\_LD\_CHECKSUM: Loaded script checksum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Required XOR of CRC32 checksum of loaded scripts\, vehicle will not arm with incorrect scripts loaded\, \-1 disables .. _SCR_RUN_CHECKSUM: SCR\_RUN\_CHECKSUM: Running script checksum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Required XOR of CRC32 checksum of running scripts\, vehicle will not arm with incorrect scripts running\, \-1 disables .. _SCR_THD_PRIORITY: SCR\_THD\_PRIORITY: Scripting thread priority ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the priority of the scripting thread\. This is normally set to a low priority to prevent scripts from interfering with other parts of the system\. Advanced users can change this priority if scripting needs to be prioritised for realtime applications\. WARNING\: changing this parameter can impact the stability of your flight controller\. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems\. It is strongly recommended that you use the lowest priority that is sufficient for your application\. Note that all scripts run at the same priority\, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system\. +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Normal | +-------+------------------+ | 1 | IO Priority | +-------+------------------+ | 2 | Storage Priority | +-------+------------------+ | 3 | UART Priority | +-------+------------------+ | 4 | I2C Priority | +-------+------------------+ | 5 | SPI Priority | +-------+------------------+ | 6 | Timer Priority | +-------+------------------+ | 7 | Main Priority | +-------+------------------+ | 8 | Boost Priority | +-------+------------------+ .. _SCR_SDEV_EN: SCR\_SDEV\_EN: Scripting serial device enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable scripting serial devices +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SCR_SDEV1_PROTO: SCR\_SDEV1\_PROTO: Serial protocol of scripting serial device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of scripting serial device +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SCR_SDEV2_PROTO: SCR\_SDEV2\_PROTO: Serial protocol of scripting serial device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of scripting serial device +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SCR_SDEV3_PROTO: SCR\_SDEV3\_PROTO: Serial protocol of scripting serial device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of scripting serial device +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _parameters_SERIAL: SERIAL Parameters ----------------- .. _SERIAL0_BAUD: SERIAL0\_BAUD: Serial0 baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used on the USB console\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL0_PROTOCOL: SERIAL0\_PROTOCOL: Console protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol to use on the console\. +-------+----------+ | Value | Meaning | +=======+==========+ | 1 | MAVLink1 | +-------+----------+ | 2 | MAVLink2 | +-------+----------+ .. _SERIAL1_PROTOCOL: SERIAL1\_PROTOCOL: Telem1 protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol to use on the Telem1 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SERIAL1_BAUD: SERIAL1\_BAUD: Telem1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used on the Telem1 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL2_PROTOCOL: SERIAL2\_PROTOCOL: Telemetry 2 protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol to use on the Telem2 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SERIAL2_BAUD: SERIAL2\_BAUD: Telemetry 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate of the Telem2 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL3_PROTOCOL: SERIAL3\_PROTOCOL: Serial 3 \(GPS\) protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol Serial 3 \(GPS\) should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SERIAL3_BAUD: SERIAL3\_BAUD: Serial 3 \(GPS\) Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for the Serial 3 \(GPS\)\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL4_PROTOCOL: SERIAL4\_PROTOCOL: Serial4 protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol Serial4 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SERIAL4_BAUD: SERIAL4\_BAUD: Serial 4 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Serial4\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL5_PROTOCOL: SERIAL5\_PROTOCOL: Serial5 protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol Serial5 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SERIAL5_BAUD: SERIAL5\_BAUD: Serial 5 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Serial5\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL6_PROTOCOL: SERIAL6\_PROTOCOL: Serial6 protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol Serial6 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SERIAL6_BAUD: SERIAL6\_BAUD: Serial 6 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Serial6\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL1_OPTIONS: SERIAL1\_OPTIONS: Telem1 options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. NOTE that two bits have moved from this parameter into MAVn\_OPTIONS\! +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | InvertRX | +-----+------------------------------------------------------------+ | 1 | InvertTX | +-----+------------------------------------------------------------+ | 2 | HalfDuplex | +-----+------------------------------------------------------------+ | 3 | SwapTXRX | +-----+------------------------------------------------------------+ | 4 | RX_PullDown | +-----+------------------------------------------------------------+ | 5 | RX_PullUp | +-----+------------------------------------------------------------+ | 6 | TX_PullDown | +-----+------------------------------------------------------------+ | 7 | TX_PullUp | +-----+------------------------------------------------------------+ | 8 | RX_NoDMA | +-----+------------------------------------------------------------+ | 9 | TX_NoDMA | +-----+------------------------------------------------------------+ | 10 | Don't forward mavlink to/from (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ | 11 | DisableFIFO | +-----+------------------------------------------------------------+ | 12 | Ignore Streamrate (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ .. _SERIAL2_OPTIONS: SERIAL2\_OPTIONS: Telem2 options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. NOTE that two bits have moved from this parameter into MAVn\_OPTIONS\! +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | InvertRX | +-----+------------------------------------------------------------+ | 1 | InvertTX | +-----+------------------------------------------------------------+ | 2 | HalfDuplex | +-----+------------------------------------------------------------+ | 3 | SwapTXRX | +-----+------------------------------------------------------------+ | 4 | RX_PullDown | +-----+------------------------------------------------------------+ | 5 | RX_PullUp | +-----+------------------------------------------------------------+ | 6 | TX_PullDown | +-----+------------------------------------------------------------+ | 7 | TX_PullUp | +-----+------------------------------------------------------------+ | 8 | RX_NoDMA | +-----+------------------------------------------------------------+ | 9 | TX_NoDMA | +-----+------------------------------------------------------------+ | 10 | Don't forward mavlink to/from (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ | 11 | DisableFIFO | +-----+------------------------------------------------------------+ | 12 | Ignore Streamrate (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ .. _SERIAL3_OPTIONS: SERIAL3\_OPTIONS: Serial3 options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. NOTE that two bits have moved from this parameter into MAVn\_OPTIONS\! +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | InvertRX | +-----+------------------------------------------------------------+ | 1 | InvertTX | +-----+------------------------------------------------------------+ | 2 | HalfDuplex | +-----+------------------------------------------------------------+ | 3 | SwapTXRX | +-----+------------------------------------------------------------+ | 4 | RX_PullDown | +-----+------------------------------------------------------------+ | 5 | RX_PullUp | +-----+------------------------------------------------------------+ | 6 | TX_PullDown | +-----+------------------------------------------------------------+ | 7 | TX_PullUp | +-----+------------------------------------------------------------+ | 8 | RX_NoDMA | +-----+------------------------------------------------------------+ | 9 | TX_NoDMA | +-----+------------------------------------------------------------+ | 10 | Don't forward mavlink to/from (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ | 11 | DisableFIFO | +-----+------------------------------------------------------------+ | 12 | Ignore Streamrate (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ .. _SERIAL4_OPTIONS: SERIAL4\_OPTIONS: Serial4 options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. NOTE that two bits have moved from this parameter into MAVn\_OPTIONS\! +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | InvertRX | +-----+------------------------------------------------------------+ | 1 | InvertTX | +-----+------------------------------------------------------------+ | 2 | HalfDuplex | +-----+------------------------------------------------------------+ | 3 | SwapTXRX | +-----+------------------------------------------------------------+ | 4 | RX_PullDown | +-----+------------------------------------------------------------+ | 5 | RX_PullUp | +-----+------------------------------------------------------------+ | 6 | TX_PullDown | +-----+------------------------------------------------------------+ | 7 | TX_PullUp | +-----+------------------------------------------------------------+ | 8 | RX_NoDMA | +-----+------------------------------------------------------------+ | 9 | TX_NoDMA | +-----+------------------------------------------------------------+ | 10 | Don't forward mavlink to/from (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ | 11 | DisableFIFO | +-----+------------------------------------------------------------+ | 12 | Ignore Streamrate (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ .. _SERIAL5_OPTIONS: SERIAL5\_OPTIONS: Serial5 options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. NOTE that two bits have moved from this parameter into MAVn\_OPTIONS\! +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | InvertRX | +-----+------------------------------------------------------------+ | 1 | InvertTX | +-----+------------------------------------------------------------+ | 2 | HalfDuplex | +-----+------------------------------------------------------------+ | 3 | SwapTXRX | +-----+------------------------------------------------------------+ | 4 | RX_PullDown | +-----+------------------------------------------------------------+ | 5 | RX_PullUp | +-----+------------------------------------------------------------+ | 6 | TX_PullDown | +-----+------------------------------------------------------------+ | 7 | TX_PullUp | +-----+------------------------------------------------------------+ | 8 | RX_NoDMA | +-----+------------------------------------------------------------+ | 9 | TX_NoDMA | +-----+------------------------------------------------------------+ | 10 | Don't forward mavlink to/from (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ | 11 | DisableFIFO | +-----+------------------------------------------------------------+ | 12 | Ignore Streamrate (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ .. _SERIAL6_OPTIONS: SERIAL6\_OPTIONS: Serial6 options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. NOTE that two bits have moved from this parameter into MAVn\_OPTIONS\! +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | InvertRX | +-----+------------------------------------------------------------+ | 1 | InvertTX | +-----+------------------------------------------------------------+ | 2 | HalfDuplex | +-----+------------------------------------------------------------+ | 3 | SwapTXRX | +-----+------------------------------------------------------------+ | 4 | RX_PullDown | +-----+------------------------------------------------------------+ | 5 | RX_PullUp | +-----+------------------------------------------------------------+ | 6 | TX_PullDown | +-----+------------------------------------------------------------+ | 7 | TX_PullUp | +-----+------------------------------------------------------------+ | 8 | RX_NoDMA | +-----+------------------------------------------------------------+ | 9 | TX_NoDMA | +-----+------------------------------------------------------------+ | 10 | Don't forward mavlink to/from (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ | 11 | DisableFIFO | +-----+------------------------------------------------------------+ | 12 | Ignore Streamrate (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ .. _SERIAL_PASS1: SERIAL\_PASS1: Serial passthru first port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ .. _SERIAL_PASS2: SERIAL\_PASS2: Serial passthru second port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port\. This parameter is normally reset to \-1 on reboot\, disabling passthrough\. If SERIAL\_PASSTIMO is set to \-1 then it is not reset on reboot\. +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 0 | Serial0 | +-------+----------+ | 1 | Serial1 | +-------+----------+ | 2 | Serial2 | +-------+----------+ | 3 | Serial3 | +-------+----------+ | 4 | Serial4 | +-------+----------+ | 5 | Serial5 | +-------+----------+ | 6 | Serial6 | +-------+----------+ .. _SERIAL_PASSTIMO: SERIAL\_PASSTIMO: Serial passthru timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a timeout for serial pass\-through in seconds\. When the pass\-through is enabled by setting the SERIAL\_PASS1 and SERIAL\_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL\_PASSTIMO seconds\. This allows the port to revent to its normal usage \(such as MAVLink connection to a GCS\) when it is no longer needed\. A value of 0 means no timeout\. A value of \-1 means no timeout and the SERIAL\_PASS2 parameter is not reset on reboot\. +-----------+---------+ | Range | Units | +===========+=========+ | -1 to 120 | seconds | +-----------+---------+ .. _SERIAL7_PROTOCOL: SERIAL7\_PROTOCOL: Serial7 protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol Serial7 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SERIAL7_BAUD: SERIAL7\_BAUD: Serial 7 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Serial7\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL7_OPTIONS: SERIAL7\_OPTIONS: Serial7 options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. NOTE that two bits have moved from this parameter into MAVn\_OPTIONS\! +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | InvertRX | +-----+------------------------------------------------------------+ | 1 | InvertTX | +-----+------------------------------------------------------------+ | 2 | HalfDuplex | +-----+------------------------------------------------------------+ | 3 | SwapTXRX | +-----+------------------------------------------------------------+ | 4 | RX_PullDown | +-----+------------------------------------------------------------+ | 5 | RX_PullUp | +-----+------------------------------------------------------------+ | 6 | TX_PullDown | +-----+------------------------------------------------------------+ | 7 | TX_PullUp | +-----+------------------------------------------------------------+ | 8 | RX_NoDMA | +-----+------------------------------------------------------------+ | 9 | TX_NoDMA | +-----+------------------------------------------------------------+ | 10 | Don't forward mavlink to/from (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ | 11 | DisableFIFO | +-----+------------------------------------------------------------+ | 12 | Ignore Streamrate (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ .. _SERIAL8_PROTOCOL: SERIAL8\_PROTOCOL: Serial8 protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol Serial8 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SERIAL8_BAUD: SERIAL8\_BAUD: Serial 8 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL8_OPTIONS: SERIAL8\_OPTIONS: Serial8 options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. NOTE that two bits have moved from this parameter into MAVn\_OPTIONS\! +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | InvertRX | +-----+------------------------------------------------------------+ | 1 | InvertTX | +-----+------------------------------------------------------------+ | 2 | HalfDuplex | +-----+------------------------------------------------------------+ | 3 | SwapTXRX | +-----+------------------------------------------------------------+ | 4 | RX_PullDown | +-----+------------------------------------------------------------+ | 5 | RX_PullUp | +-----+------------------------------------------------------------+ | 6 | TX_PullDown | +-----+------------------------------------------------------------+ | 7 | TX_PullUp | +-----+------------------------------------------------------------+ | 8 | RX_NoDMA | +-----+------------------------------------------------------------+ | 9 | TX_NoDMA | +-----+------------------------------------------------------------+ | 10 | Don't forward mavlink to/from (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ | 11 | DisableFIFO | +-----+------------------------------------------------------------+ | 12 | Ignore Streamrate (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ .. _SERIAL9_PROTOCOL: SERIAL9\_PROTOCOL: Serial9 protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol Serial9 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. +-------+----------------------------------+ | Value | Meaning | +=======+==================================+ | -1 | None | +-------+----------------------------------+ | 1 | MAVLink1 | +-------+----------------------------------+ | 2 | MAVLink2 | +-------+----------------------------------+ | 3 | Frsky D | +-------+----------------------------------+ | 4 | Frsky SPort | +-------+----------------------------------+ | 5 | GPS | +-------+----------------------------------+ | 7 | Alexmos Gimbal Serial | +-------+----------------------------------+ | 8 | Gimbal | +-------+----------------------------------+ | 9 | Rangefinder | +-------+----------------------------------+ | 10 | FrSky SPort Passthrough (OpenTX) | +-------+----------------------------------+ | 11 | Lidar360 | +-------+----------------------------------+ | 13 | Beacon | +-------+----------------------------------+ | 14 | Volz servo out | +-------+----------------------------------+ | 15 | SBus servo out | +-------+----------------------------------+ | 16 | ESC Telemetry | +-------+----------------------------------+ | 17 | Devo Telemetry | +-------+----------------------------------+ | 18 | OpticalFlow | +-------+----------------------------------+ | 19 | RobotisServo | +-------+----------------------------------+ | 20 | NMEA Output | +-------+----------------------------------+ | 21 | WindVane | +-------+----------------------------------+ | 22 | SLCAN | +-------+----------------------------------+ | 23 | RCIN | +-------+----------------------------------+ | 24 | EFI Serial | +-------+----------------------------------+ | 25 | LTM | +-------+----------------------------------+ | 26 | RunCam | +-------+----------------------------------+ | 27 | HottTelem | +-------+----------------------------------+ | 28 | Scripting | +-------+----------------------------------+ | 29 | Crossfire VTX | +-------+----------------------------------+ | 30 | Generator | +-------+----------------------------------+ | 31 | Winch | +-------+----------------------------------+ | 32 | MSP | +-------+----------------------------------+ | 33 | DJI FPV | +-------+----------------------------------+ | 34 | AirSpeed | +-------+----------------------------------+ | 35 | ADSB | +-------+----------------------------------+ | 36 | AHRS | +-------+----------------------------------+ | 37 | SmartAudio | +-------+----------------------------------+ | 38 | FETtecOneWire | +-------+----------------------------------+ | 39 | Torqeedo | +-------+----------------------------------+ | 40 | AIS | +-------+----------------------------------+ | 41 | CoDevESC | +-------+----------------------------------+ | 42 | DisplayPort | +-------+----------------------------------+ | 43 | MAVLink High Latency | +-------+----------------------------------+ | 44 | IRC Tramp | +-------+----------------------------------+ | 45 | DDS XRCE | +-------+----------------------------------+ | 46 | IMUDATA | +-------+----------------------------------+ | 48 | PPP | +-------+----------------------------------+ | 49 | i-BUS Telemetry | +-------+----------------------------------+ | 50 | IOMCU | +-------+----------------------------------+ .. _SERIAL9_BAUD: SERIAL9\_BAUD: Serial 9 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support 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 | +----------+-----------+ | 230 | 230400 | +----------+-----------+ | 256 | 256000 | +----------+-----------+ | 460 | 460800 | +----------+-----------+ | 500 | 500000 | +----------+-----------+ | 921 | 921600 | +----------+-----------+ | 1500 | 1.5MBaud | +----------+-----------+ | 2000 | 2MBaud | +----------+-----------+ | 12500000 | 12.5MBaud | +----------+-----------+ +---------------+ | Range | +===============+ | 1 to 20000000 | +---------------+ .. _SERIAL9_OPTIONS: SERIAL9\_OPTIONS: Serial9 options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. NOTE that two bits have moved from this parameter into MAVn\_OPTIONS\! +-----+------------------------------------------------------------+ | Bit | Meaning | +=====+============================================================+ | 0 | InvertRX | +-----+------------------------------------------------------------+ | 1 | InvertTX | +-----+------------------------------------------------------------+ | 2 | HalfDuplex | +-----+------------------------------------------------------------+ | 3 | SwapTXRX | +-----+------------------------------------------------------------+ | 4 | RX_PullDown | +-----+------------------------------------------------------------+ | 5 | RX_PullUp | +-----+------------------------------------------------------------+ | 6 | TX_PullDown | +-----+------------------------------------------------------------+ | 7 | TX_PullUp | +-----+------------------------------------------------------------+ | 8 | RX_NoDMA | +-----+------------------------------------------------------------+ | 9 | TX_NoDMA | +-----+------------------------------------------------------------+ | 10 | Don't forward mavlink to/from (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ | 11 | DisableFIFO | +-----+------------------------------------------------------------+ | 12 | Ignore Streamrate (moved to MAVn_OPTIONS >4.7) | +-----+------------------------------------------------------------+ .. _parameters_SERVO: SERVO Parameters ---------------- .. _SERVO_RATE: SERVO\_RATE: Servo default output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Default output rate in Hz for all PWM outputs\. +-----------+-------+ | Range | Units | +===========+=======+ | 25 to 400 | hertz | +-----------+-------+ .. _SERVO_DSHOT_RATE: SERVO\_DSHOT\_RATE: Servo DShot output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DShot output rate for all outputs as a multiple of the loop rate\. 0 sets the output rate to be fixed at 1Khz for low loop rates\. This value should never be set below 500Hz\. +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | 1Khz | +-------+---------------------+ | 1 | loop-rate | +-------+---------------------+ | 2 | double loop-rate | +-------+---------------------+ | 3 | triple loop-rate | +-------+---------------------+ | 4 | quadruple loop rate | +-------+---------------------+ .. _SERVO_DSHOT_ESC: SERVO\_DSHOT\_ESC: Servo DShot ESC type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DShot ESC type for all outputs\. The ESC type affects the range of DShot commands available and the bit widths used\. None means that no dshot commands will be executed\. Some ESC types support Extended DShot Telemetry \(EDT\) which allows telemetry other than RPM data to be returned when using bi\-directional dshot\. If you enable EDT you must install EDT capable firmware for correct operation\. +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | None | +-------+------------------------+ | 1 | BLHeli32/Kiss/AM32 | +-------+------------------------+ | 2 | BLHeli_S/BlueJay | +-------+------------------------+ | 3 | BLHeli32/AM32/Kiss+EDT | +-------+------------------------+ | 4 | BLHeli_S/BlueJay+EDT | +-------+------------------------+ .. _SERVO_GPIO_MASK: SERVO\_GPIO\_MASK: Servo GPIO mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bitmask of outputs which will be available as GPIOs\. Any output with either the function set to \-1 or with the corresponding bit set in this mask will be available for use as a GPIO pin +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Servo 1 | +-----+----------+ | 1 | Servo 2 | +-----+----------+ | 2 | Servo 3 | +-----+----------+ | 3 | Servo 4 | +-----+----------+ | 4 | Servo 5 | +-----+----------+ | 5 | Servo 6 | +-----+----------+ | 6 | Servo 7 | +-----+----------+ | 7 | Servo 8 | +-----+----------+ | 8 | Servo 9 | +-----+----------+ | 9 | Servo 10 | +-----+----------+ | 10 | Servo 11 | +-----+----------+ | 11 | Servo 12 | +-----+----------+ | 12 | Servo 13 | +-----+----------+ | 13 | Servo 14 | +-----+----------+ | 14 | Servo 15 | +-----+----------+ | 15 | Servo 16 | +-----+----------+ | 16 | Servo 17 | +-----+----------+ | 17 | Servo 18 | +-----+----------+ | 18 | Servo 19 | +-----+----------+ | 19 | Servo 20 | +-----+----------+ | 20 | Servo 21 | +-----+----------+ | 21 | Servo 22 | +-----+----------+ | 22 | Servo 23 | +-----+----------+ | 23 | Servo 24 | +-----+----------+ | 24 | Servo 25 | +-----+----------+ | 25 | Servo 26 | +-----+----------+ | 26 | Servo 27 | +-----+----------+ | 27 | Servo 28 | +-----+----------+ | 28 | Servo 29 | +-----+----------+ | 29 | Servo 30 | +-----+----------+ | 30 | Servo 31 | +-----+----------+ | 31 | Servo 32 | +-----+----------+ .. _SERVO_RC_FS_MSK: SERVO\_RC\_FS\_MSK: Servo RC Failsafe Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe\. +-----+---------------+ | Bit | Meaning | +=====+===============+ | 0 | RCIN1Scaled | +-----+---------------+ | 1 | RCIN2Scaled | +-----+---------------+ | 2 | RCIN3Scaled | +-----+---------------+ | 3 | RCIN4Scaled | +-----+---------------+ | 4 | RCIN5Scaled | +-----+---------------+ | 5 | RCIN6Scaled | +-----+---------------+ | 6 | RCIN7Scaled | +-----+---------------+ | 7 | RCIN8Scaled | +-----+---------------+ | 8 | RCIN9Scaled | +-----+---------------+ | 9 | RCIN10Scaled | +-----+---------------+ | 10 | RCIN11Scaled | +-----+---------------+ | 11 | SRCIN12Scaled | +-----+---------------+ | 12 | RCIN13Scaled | +-----+---------------+ | 13 | RCIN14Scaled | +-----+---------------+ | 14 | RCIN15Scaled | +-----+---------------+ | 15 | RCIN16Scaled | +-----+---------------+ .. _SERVO_32_ENABLE: SERVO\_32\_ENABLE: Enable outputs 17 to 31 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This allows for up to 32 outputs\, enabling parameters for outputs above 16 +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _parameters_SERVO1_: SERVO1\_ Parameters ------------------- .. _SERVO1_MIN: SERVO1\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO1_MAX: SERVO1\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO1_TRIM: SERVO1\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO1_REVERSED: SERVO1\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO1_FUNCTION: SERVO1\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO2_: SERVO2\_ Parameters ------------------- .. _SERVO2_MIN: SERVO2\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO2_MAX: SERVO2\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO2_TRIM: SERVO2\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO2_REVERSED: SERVO2\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO2_FUNCTION: SERVO2\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO3_: SERVO3\_ Parameters ------------------- .. _SERVO3_MIN: SERVO3\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO3_MAX: SERVO3\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO3_TRIM: SERVO3\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO3_REVERSED: SERVO3\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO3_FUNCTION: SERVO3\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO4_: SERVO4\_ Parameters ------------------- .. _SERVO4_MIN: SERVO4\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO4_MAX: SERVO4\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO4_TRIM: SERVO4\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO4_REVERSED: SERVO4\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO4_FUNCTION: SERVO4\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO5_: SERVO5\_ Parameters ------------------- .. _SERVO5_MIN: SERVO5\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO5_MAX: SERVO5\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO5_TRIM: SERVO5\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO5_REVERSED: SERVO5\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO5_FUNCTION: SERVO5\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO6_: SERVO6\_ Parameters ------------------- .. _SERVO6_MIN: SERVO6\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO6_MAX: SERVO6\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO6_TRIM: SERVO6\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO6_REVERSED: SERVO6\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO6_FUNCTION: SERVO6\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO7_: SERVO7\_ Parameters ------------------- .. _SERVO7_MIN: SERVO7\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO7_MAX: SERVO7\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO7_TRIM: SERVO7\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO7_REVERSED: SERVO7\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO7_FUNCTION: SERVO7\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO8_: SERVO8\_ Parameters ------------------- .. _SERVO8_MIN: SERVO8\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO8_MAX: SERVO8\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO8_TRIM: SERVO8\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO8_REVERSED: SERVO8\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO8_FUNCTION: SERVO8\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO9_: SERVO9\_ Parameters ------------------- .. _SERVO9_MIN: SERVO9\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO9_MAX: SERVO9\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO9_TRIM: SERVO9\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO9_REVERSED: SERVO9\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO9_FUNCTION: SERVO9\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO10_: SERVO10\_ Parameters -------------------- .. _SERVO10_MIN: SERVO10\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO10_MAX: SERVO10\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO10_TRIM: SERVO10\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO10_REVERSED: SERVO10\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO10_FUNCTION: SERVO10\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO11_: SERVO11\_ Parameters -------------------- .. _SERVO11_MIN: SERVO11\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO11_MAX: SERVO11\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO11_TRIM: SERVO11\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO11_REVERSED: SERVO11\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO11_FUNCTION: SERVO11\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO12_: SERVO12\_ Parameters -------------------- .. _SERVO12_MIN: SERVO12\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO12_MAX: SERVO12\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO12_TRIM: SERVO12\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO12_REVERSED: SERVO12\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO12_FUNCTION: SERVO12\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO13_: SERVO13\_ Parameters -------------------- .. _SERVO13_MIN: SERVO13\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO13_MAX: SERVO13\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO13_TRIM: SERVO13\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO13_REVERSED: SERVO13\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO13_FUNCTION: SERVO13\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO14_: SERVO14\_ Parameters -------------------- .. _SERVO14_MIN: SERVO14\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO14_MAX: SERVO14\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO14_TRIM: SERVO14\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO14_REVERSED: SERVO14\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO14_FUNCTION: SERVO14\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO15_: SERVO15\_ Parameters -------------------- .. _SERVO15_MIN: SERVO15\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO15_MAX: SERVO15\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO15_TRIM: SERVO15\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO15_REVERSED: SERVO15\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO15_FUNCTION: SERVO15\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO16_: SERVO16\_ Parameters -------------------- .. _SERVO16_MIN: SERVO16\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO16_MAX: SERVO16\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO16_TRIM: SERVO16\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO16_REVERSED: SERVO16\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO16_FUNCTION: SERVO16\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO17_: SERVO17\_ Parameters -------------------- .. _SERVO17_MIN: SERVO17\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO17_MAX: SERVO17\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO17_TRIM: SERVO17\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO17_REVERSED: SERVO17\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO17_FUNCTION: SERVO17\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO18_: SERVO18\_ Parameters -------------------- .. _SERVO18_MIN: SERVO18\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO18_MAX: SERVO18\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO18_TRIM: SERVO18\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO18_REVERSED: SERVO18\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO18_FUNCTION: SERVO18\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO19_: SERVO19\_ Parameters -------------------- .. _SERVO19_MIN: SERVO19\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO19_MAX: SERVO19\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO19_TRIM: SERVO19\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO19_REVERSED: SERVO19\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO19_FUNCTION: SERVO19\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO20_: SERVO20\_ Parameters -------------------- .. _SERVO20_MIN: SERVO20\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO20_MAX: SERVO20\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO20_TRIM: SERVO20\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO20_REVERSED: SERVO20\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO20_FUNCTION: SERVO20\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO21_: SERVO21\_ Parameters -------------------- .. _SERVO21_MIN: SERVO21\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO21_MAX: SERVO21\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO21_TRIM: SERVO21\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO21_REVERSED: SERVO21\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO21_FUNCTION: SERVO21\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO22_: SERVO22\_ Parameters -------------------- .. _SERVO22_MIN: SERVO22\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO22_MAX: SERVO22\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO22_TRIM: SERVO22\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO22_REVERSED: SERVO22\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO22_FUNCTION: SERVO22\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO23_: SERVO23\_ Parameters -------------------- .. _SERVO23_MIN: SERVO23\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO23_MAX: SERVO23\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO23_TRIM: SERVO23\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO23_REVERSED: SERVO23\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO23_FUNCTION: SERVO23\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO24_: SERVO24\_ Parameters -------------------- .. _SERVO24_MIN: SERVO24\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO24_MAX: SERVO24\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO24_TRIM: SERVO24\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO24_REVERSED: SERVO24\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO24_FUNCTION: SERVO24\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO25_: SERVO25\_ Parameters -------------------- .. _SERVO25_MIN: SERVO25\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO25_MAX: SERVO25\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO25_TRIM: SERVO25\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO25_REVERSED: SERVO25\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO25_FUNCTION: SERVO25\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO26_: SERVO26\_ Parameters -------------------- .. _SERVO26_MIN: SERVO26\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO26_MAX: SERVO26\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO26_TRIM: SERVO26\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO26_REVERSED: SERVO26\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO26_FUNCTION: SERVO26\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO27_: SERVO27\_ Parameters -------------------- .. _SERVO27_MIN: SERVO27\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO27_MAX: SERVO27\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO27_TRIM: SERVO27\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO27_REVERSED: SERVO27\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO27_FUNCTION: SERVO27\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO28_: SERVO28\_ Parameters -------------------- .. _SERVO28_MIN: SERVO28\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO28_MAX: SERVO28\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO28_TRIM: SERVO28\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO28_REVERSED: SERVO28\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO28_FUNCTION: SERVO28\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO29_: SERVO29\_ Parameters -------------------- .. _SERVO29_MIN: SERVO29\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO29_MAX: SERVO29\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO29_TRIM: SERVO29\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO29_REVERSED: SERVO29\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO29_FUNCTION: SERVO29\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO30_: SERVO30\_ Parameters -------------------- .. _SERVO30_MIN: SERVO30\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO30_MAX: SERVO30\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO30_TRIM: SERVO30\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO30_REVERSED: SERVO30\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO30_FUNCTION: SERVO30\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO31_: SERVO31\_ Parameters -------------------- .. _SERVO31_MIN: SERVO31\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO31_MAX: SERVO31\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO31_TRIM: SERVO31\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO31_REVERSED: SERVO31\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO31_FUNCTION: SERVO31\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO32_: SERVO32\_ Parameters -------------------- .. _SERVO32_MIN: SERVO32\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO32_MAX: SERVO32\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO32_TRIM: SERVO32\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO32_REVERSED: SERVO32\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Normal | +-------+----------+ | 1 | Reversed | +-------+----------+ .. _SERVO32_FUNCTION: SERVO32\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. 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 | +=======+====================+ | -1 | GPIO | +-------+--------------------+ | 0 | Disabled | +-------+--------------------+ | 1 | RCPassThru | +-------+--------------------+ | 6 | Mount1Yaw | +-------+--------------------+ | 7 | Mount1Pitch | +-------+--------------------+ | 8 | Mount1Roll | +-------+--------------------+ | 9 | Mount1Retract | +-------+--------------------+ | 10 | CameraTrigger | +-------+--------------------+ | 12 | Mount2Yaw | +-------+--------------------+ | 13 | Mount2Pitch | +-------+--------------------+ | 14 | Mount2Roll | +-------+--------------------+ | 15 | Mount2Retract | +-------+--------------------+ | 22 | SprayerPump | +-------+--------------------+ | 23 | SprayerSpinner | +-------+--------------------+ | 26 | GroundSteering | +-------+--------------------+ | 28 | Gripper | +-------+--------------------+ | 33 | Motor1 | +-------+--------------------+ | 34 | Motor2 | +-------+--------------------+ | 35 | Motor3 | +-------+--------------------+ | 36 | Motor4 | +-------+--------------------+ | 51 | RCIN1 | +-------+--------------------+ | 52 | RCIN2 | +-------+--------------------+ | 53 | RCIN3 | +-------+--------------------+ | 54 | RCIN4 | +-------+--------------------+ | 55 | RCIN5 | +-------+--------------------+ | 56 | RCIN6 | +-------+--------------------+ | 57 | RCIN7 | +-------+--------------------+ | 58 | RCIN8 | +-------+--------------------+ | 59 | RCIN9 | +-------+--------------------+ | 60 | RCIN10 | +-------+--------------------+ | 61 | RCIN11 | +-------+--------------------+ | 62 | RCIN12 | +-------+--------------------+ | 63 | RCIN13 | +-------+--------------------+ | 64 | RCIN14 | +-------+--------------------+ | 65 | RCIN15 | +-------+--------------------+ | 66 | RCIN16 | +-------+--------------------+ | 70 | Throttle | +-------+--------------------+ | 73 | ThrottleLeft | +-------+--------------------+ | 74 | ThrottleRight | +-------+--------------------+ | 88 | Winch | +-------+--------------------+ | 89 | Main Sail | +-------+--------------------+ | 90 | CameraISO | +-------+--------------------+ | 91 | CameraAperture | +-------+--------------------+ | 92 | CameraFocus | +-------+--------------------+ | 93 | CameraShutterSpeed | +-------+--------------------+ | 94 | Script1 | +-------+--------------------+ | 95 | Script2 | +-------+--------------------+ | 96 | Script3 | +-------+--------------------+ | 97 | Script4 | +-------+--------------------+ | 98 | Script5 | +-------+--------------------+ | 99 | Script6 | +-------+--------------------+ | 100 | Script7 | +-------+--------------------+ | 101 | Script8 | +-------+--------------------+ | 102 | Script9 | +-------+--------------------+ | 103 | Script10 | +-------+--------------------+ | 104 | Script11 | +-------+--------------------+ | 105 | Script12 | +-------+--------------------+ | 106 | Script13 | +-------+--------------------+ | 107 | Script14 | +-------+--------------------+ | 108 | Script15 | +-------+--------------------+ | 109 | Script16 | +-------+--------------------+ | 120 | NeoPixel1 | +-------+--------------------+ | 121 | NeoPixel2 | +-------+--------------------+ | 122 | NeoPixel3 | +-------+--------------------+ | 123 | NeoPixel4 | +-------+--------------------+ | 128 | WingSailElevator | +-------+--------------------+ | 129 | ProfiLED1 | +-------+--------------------+ | 130 | ProfiLED2 | +-------+--------------------+ | 131 | ProfiLED3 | +-------+--------------------+ | 132 | ProfiLEDClock | +-------+--------------------+ | 133 | Winch Clutch | +-------+--------------------+ | 134 | SERVOn_MIN | +-------+--------------------+ | 135 | SERVOn_TRIM | +-------+--------------------+ | 136 | SERVOn_MAX | +-------+--------------------+ | 137 | SailMastRotation | +-------+--------------------+ | 138 | Alarm | +-------+--------------------+ | 139 | Alarm Inverted | +-------+--------------------+ | 140 | RCIN1Scaled | +-------+--------------------+ | 141 | RCIN2Scaled | +-------+--------------------+ | 142 | RCIN3Scaled | +-------+--------------------+ | 143 | RCIN4Scaled | +-------+--------------------+ | 144 | RCIN5Scaled | +-------+--------------------+ | 145 | RCIN6Scaled | +-------+--------------------+ | 146 | RCIN7Scaled | +-------+--------------------+ | 147 | RCIN8Scaled | +-------+--------------------+ | 148 | RCIN9Scaled | +-------+--------------------+ | 149 | RCIN10Scaled | +-------+--------------------+ | 150 | RCIN11Scaled | +-------+--------------------+ | 151 | RCIN12Scaled | +-------+--------------------+ | 152 | RCIN13Scaled | +-------+--------------------+ | 153 | RCIN14Scaled | +-------+--------------------+ | 154 | RCIN15Scaled | +-------+--------------------+ | 155 | RCIN16Scaled | +-------+--------------------+ .. _parameters_SERVO_BLH_: SERVO\_BLH\_ Parameters ----------------------- .. _SERVO_BLH_MASK: SERVO\_BLH\_MASK: BLHeli Channel Bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable of BLHeli pass\-thru servo protocol support to specific channels\. This mask is in addition to motors enabled using SERVO\_BLH\_AUTO \(if any\) +-----+------------+ | Bit | Meaning | +=====+============+ | 0 | Channel1 | +-----+------------+ | 1 | Channel2 | +-----+------------+ | 2 | Channel3 | +-----+------------+ | 3 | Channel4 | +-----+------------+ | 4 | Channel5 | +-----+------------+ | 5 | Channel6 | +-----+------------+ | 6 | Channel7 | +-----+------------+ | 7 | Channel8 | +-----+------------+ | 8 | Channel9 | +-----+------------+ | 9 | Channel10 | +-----+------------+ | 10 | Channel11 | +-----+------------+ | 11 | Channel12 | +-----+------------+ | 12 | Channel13 | +-----+------------+ | 13 | Channel14 | +-----+------------+ | 14 | Channel15 | +-----+------------+ | 15 | Channel16 | +-----+------------+ | 16 | Channel 17 | +-----+------------+ | 17 | Channel 18 | +-----+------------+ | 18 | Channel 19 | +-----+------------+ | 19 | Channel 20 | +-----+------------+ | 20 | Channel 21 | +-----+------------+ | 21 | Channel 22 | +-----+------------+ | 22 | Channel 23 | +-----+------------+ | 23 | Channel 24 | +-----+------------+ | 24 | Channel 25 | +-----+------------+ | 25 | Channel 26 | +-----+------------+ | 26 | Channel 27 | +-----+------------+ | 27 | Channel 28 | +-----+------------+ | 28 | Channel 29 | +-----+------------+ | 29 | Channel 30 | +-----+------------+ | 30 | Channel 31 | +-----+------------+ | 31 | Channel 32 | +-----+------------+ .. _SERVO_BLH_AUTO: SERVO\_BLH\_AUTO: BLHeli pass\-thru auto\-enable for multicopter motors ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* If set to 1 this auto\-enables BLHeli pass\-thru support for all multicopter motors +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SERVO_BLH_TEST: SERVO\_BLH\_TEST: BLHeli internal interface test ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Setting SERVO\_BLH\_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC\. The debug output is displayed on the USB console\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | Disabled | +-------+------------+ | 1 | TestMotor1 | +-------+------------+ | 2 | TestMotor2 | +-------+------------+ | 3 | TestMotor3 | +-------+------------+ | 4 | TestMotor4 | +-------+------------+ | 5 | TestMotor5 | +-------+------------+ | 6 | TestMotor6 | +-------+------------+ | 7 | TestMotor7 | +-------+------------+ | 8 | TestMotor8 | +-------+------------+ .. _SERVO_BLH_TMOUT: SERVO\_BLH\_TMOUT: BLHeli protocol timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the inactivity timeout for the BLHeli protocol in seconds\. If no packets are received in this time normal MAVLink operations are resumed\. A value of 0 means no timeout +----------+---------+ | Range | Units | +==========+=========+ | 0 to 300 | seconds | +----------+---------+ .. _SERVO_BLH_TRATE: SERVO\_BLH\_TRATE: BLHeli telemetry rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the rate in Hz for requesting telemetry from ESCs\. It is the rate per ESC\. Setting to zero disables telemetry requests +----------+-------+ | Range | Units | +==========+=======+ | 0 to 500 | hertz | +----------+-------+ .. _SERVO_BLH_DEBUG: SERVO\_BLH\_DEBUG: BLHeli debug level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active\. This can be used to diagnose failures\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SERVO_BLH_OTYPE: SERVO\_BLH\_OTYPE: BLHeli output type override ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* When set to a non\-zero value this overrides the output type for the output channels given by SERVO\_BLH\_MASK\. This can be used to enable DShot on outputs that are not part of the multicopter motors group\. +-------+------------+ | Value | Meaning | +=======+============+ | 0 | None | +-------+------------+ | 1 | OneShot | +-------+------------+ | 2 | OneShot125 | +-------+------------+ | 3 | Brushed | +-------+------------+ | 4 | DShot150 | +-------+------------+ | 5 | DShot300 | +-------+------------+ | 6 | DShot600 | +-------+------------+ | 7 | DShot1200 | +-------+------------+ .. _SERVO_BLH_PORT: SERVO\_BLH\_PORT: Control port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the mavlink channel to use for blheli pass\-thru\. The channel number is determined by the number of serial ports configured to use mavlink\. So 0 is always the console\, 1 is the next serial port using mavlink\, 2 the next after that and so on\. +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Console | +-------+-------------------------+ | 1 | Mavlink Serial Channel1 | +-------+-------------------------+ | 2 | Mavlink Serial Channel2 | +-------+-------------------------+ | 3 | Mavlink Serial Channel3 | +-------+-------------------------+ | 4 | Mavlink Serial Channel4 | +-------+-------------------------+ | 5 | Mavlink Serial Channel5 | +-------+-------------------------+ .. _SERVO_BLH_POLES: SERVO\_BLH\_POLES: BLHeli Motor Poles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This allows calculation of true RPM from ESC\'s eRPM\. The default is 14\. +----------+ | Range | +==========+ | 1 to 127 | +----------+ .. _SERVO_BLH_3DMASK: SERVO\_BLH\_3DMASK: BLHeli bitmask of 3D channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Mask of channels which are dynamically reversible\. This is used to configure ESCs in \'3D\' mode\, allowing for the motor to spin in either direction\. Note that setting an ESC as reversible with this option on AM32 will result in the forward direction of the ESC changing\. You can combine with parameter with the SERVO\_BLH\_RVMASK parameter to maintain the same direction when the ESC is in 3D mode as it has in unidirectional \(non\-3D\) mode\. +-----+------------+ | Bit | Meaning | +=====+============+ | 0 | Channel1 | +-----+------------+ | 1 | Channel2 | +-----+------------+ | 2 | Channel3 | +-----+------------+ | 3 | Channel4 | +-----+------------+ | 4 | Channel5 | +-----+------------+ | 5 | Channel6 | +-----+------------+ | 6 | Channel7 | +-----+------------+ | 7 | Channel8 | +-----+------------+ | 8 | Channel9 | +-----+------------+ | 9 | Channel10 | +-----+------------+ | 10 | Channel11 | +-----+------------+ | 11 | Channel12 | +-----+------------+ | 12 | Channel13 | +-----+------------+ | 13 | Channel14 | +-----+------------+ | 14 | Channel15 | +-----+------------+ | 15 | Channel16 | +-----+------------+ | 16 | Channel 17 | +-----+------------+ | 17 | Channel 18 | +-----+------------+ | 18 | Channel 19 | +-----+------------+ | 19 | Channel 20 | +-----+------------+ | 20 | Channel 21 | +-----+------------+ | 21 | Channel 22 | +-----+------------+ | 22 | Channel 23 | +-----+------------+ | 23 | Channel 24 | +-----+------------+ | 24 | Channel 25 | +-----+------------+ | 25 | Channel 26 | +-----+------------+ | 26 | Channel 27 | +-----+------------+ | 27 | Channel 28 | +-----+------------+ | 28 | Channel 29 | +-----+------------+ | 29 | Channel 30 | +-----+------------+ | 30 | Channel 31 | +-----+------------+ | 31 | Channel 32 | +-----+------------+ .. _SERVO_BLH_BDMASK: SERVO\_BLH\_BDMASK: BLHeli bitmask of bi\-directional dshot channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Mask of channels which support bi\-directional dshot telemetry\. This is used for ESCs which have firmware that supports bi\-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch\. +-----+------------+ | Bit | Meaning | +=====+============+ | 0 | Channel1 | +-----+------------+ | 1 | Channel2 | +-----+------------+ | 2 | Channel3 | +-----+------------+ | 3 | Channel4 | +-----+------------+ | 4 | Channel5 | +-----+------------+ | 5 | Channel6 | +-----+------------+ | 6 | Channel7 | +-----+------------+ | 7 | Channel8 | +-----+------------+ | 8 | Channel9 | +-----+------------+ | 9 | Channel10 | +-----+------------+ | 10 | Channel11 | +-----+------------+ | 11 | Channel12 | +-----+------------+ | 12 | Channel13 | +-----+------------+ | 13 | Channel14 | +-----+------------+ | 14 | Channel15 | +-----+------------+ | 15 | Channel16 | +-----+------------+ | 16 | Channel 17 | +-----+------------+ | 17 | Channel 18 | +-----+------------+ | 18 | Channel 19 | +-----+------------+ | 19 | Channel 20 | +-----+------------+ | 20 | Channel 21 | +-----+------------+ | 21 | Channel 22 | +-----+------------+ | 22 | Channel 23 | +-----+------------+ | 23 | Channel 24 | +-----+------------+ | 24 | Channel 25 | +-----+------------+ | 25 | Channel 26 | +-----+------------+ | 26 | Channel 27 | +-----+------------+ | 27 | Channel 28 | +-----+------------+ | 28 | Channel 29 | +-----+------------+ | 29 | Channel 30 | +-----+------------+ | 30 | Channel 31 | +-----+------------+ | 31 | Channel 32 | +-----+------------+ .. _SERVO_BLH_RVMASK: SERVO\_BLH\_RVMASK: BLHeli bitmask of reversed channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Mask of channels which are reversed\. This is used to configure ESCs to reverse motor direction\. Note that when combined with SERVO\_BLH\_3DMASK this will change what direction is considered to be forward\. +-----+------------+ | Bit | Meaning | +=====+============+ | 0 | Channel1 | +-----+------------+ | 1 | Channel2 | +-----+------------+ | 2 | Channel3 | +-----+------------+ | 3 | Channel4 | +-----+------------+ | 4 | Channel5 | +-----+------------+ | 5 | Channel6 | +-----+------------+ | 6 | Channel7 | +-----+------------+ | 7 | Channel8 | +-----+------------+ | 8 | Channel9 | +-----+------------+ | 9 | Channel10 | +-----+------------+ | 10 | Channel11 | +-----+------------+ | 11 | Channel12 | +-----+------------+ | 12 | Channel13 | +-----+------------+ | 13 | Channel14 | +-----+------------+ | 14 | Channel15 | +-----+------------+ | 15 | Channel16 | +-----+------------+ | 16 | Channel 17 | +-----+------------+ | 17 | Channel 18 | +-----+------------+ | 18 | Channel 19 | +-----+------------+ | 19 | Channel 20 | +-----+------------+ | 20 | Channel 21 | +-----+------------+ | 21 | Channel 22 | +-----+------------+ | 22 | Channel 23 | +-----+------------+ | 23 | Channel 24 | +-----+------------+ | 24 | Channel 25 | +-----+------------+ | 25 | Channel 26 | +-----+------------+ | 26 | Channel 27 | +-----+------------+ | 27 | Channel 28 | +-----+------------+ | 28 | Channel 29 | +-----+------------+ | 29 | Channel 30 | +-----+------------+ | 30 | Channel 31 | +-----+------------+ | 31 | Channel 32 | +-----+------------+ .. _parameters_SERVO_FTW_: SERVO\_FTW\_ Parameters ----------------------- .. _SERVO_FTW_MASK: SERVO\_FTW\_MASK: Servo channel output bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Servo channel mask specifying FETtec ESC output\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | SERVO1 | +-----+---------+ | 1 | SERVO2 | +-----+---------+ | 2 | SERVO3 | +-----+---------+ | 3 | SERVO4 | +-----+---------+ | 4 | SERVO5 | +-----+---------+ | 5 | SERVO6 | +-----+---------+ | 6 | SERVO7 | +-----+---------+ | 7 | SERVO8 | +-----+---------+ | 8 | SERVO9 | +-----+---------+ | 9 | SERVO10 | +-----+---------+ | 10 | SERVO11 | +-----+---------+ | 11 | SERVO12 | +-----+---------+ .. _SERVO_FTW_RVMASK: SERVO\_FTW\_RVMASK: Servo channel reverse rotation bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo channel mask to reverse rotation of FETtec ESC outputs\. +-----+---------+ | Bit | Meaning | +=====+=========+ | 0 | SERVO1 | +-----+---------+ | 1 | SERVO2 | +-----+---------+ | 2 | SERVO3 | +-----+---------+ | 3 | SERVO4 | +-----+---------+ | 4 | SERVO5 | +-----+---------+ | 5 | SERVO6 | +-----+---------+ | 6 | SERVO7 | +-----+---------+ | 7 | SERVO8 | +-----+---------+ | 8 | SERVO9 | +-----+---------+ | 9 | SERVO10 | +-----+---------+ | 10 | SERVO11 | +-----+---------+ | 11 | SERVO12 | +-----+---------+ .. _SERVO_FTW_POLES: SERVO\_FTW\_POLES: Nr\. electrical poles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of motor electrical poles +---------+ | Range | +=========+ | 2 to 50 | +---------+ .. _parameters_SERVO_ROB_: SERVO\_ROB\_ Parameters ----------------------- .. _SERVO_ROB_POSMIN: SERVO\_ROB\_POSMIN: Robotis servo position min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Position minimum at servo min value\. This should be within the position control range of the servos\, normally 0 to 4095 +-----------+ | Range | +===========+ | 0 to 4095 | +-----------+ .. _SERVO_ROB_POSMAX: SERVO\_ROB\_POSMAX: Robotis servo position max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Position maximum at servo max value\. This should be within the position control range of the servos\, normally 0 to 4095 +-----------+ | Range | +===========+ | 0 to 4095 | +-----------+ .. _parameters_SERVO_SBUS_: SERVO\_SBUS\_ Parameters ------------------------ .. _SERVO_SBUS_RATE: SERVO\_SBUS\_RATE: SBUS default output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the SBUS output frame rate in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 25 to 250 | hertz | +-----------+-------+ .. _parameters_SERVO_VOLZ_: SERVO\_VOLZ\_ Parameters ------------------------ .. _SERVO_VOLZ_MASK: SERVO\_VOLZ\_MASK: Channel Bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable of volz servo protocol to specific channels +-----+-----------+ | Bit | Meaning | +=====+===========+ | 0 | Channel1 | +-----+-----------+ | 1 | Channel2 | +-----+-----------+ | 2 | Channel3 | +-----+-----------+ | 3 | Channel4 | +-----+-----------+ | 4 | Channel5 | +-----+-----------+ | 5 | Channel6 | +-----+-----------+ | 6 | Channel7 | +-----+-----------+ | 7 | Channel8 | +-----+-----------+ | 8 | Channel9 | +-----+-----------+ | 9 | Channel10 | +-----+-----------+ | 10 | Channel11 | +-----+-----------+ | 11 | Channel12 | +-----+-----------+ | 12 | Channel13 | +-----+-----------+ | 13 | Channel14 | +-----+-----------+ | 14 | Channel15 | +-----+-----------+ | 15 | Channel16 | +-----+-----------+ | 16 | Channel17 | +-----+-----------+ | 17 | Channel18 | +-----+-----------+ | 18 | Channel19 | +-----+-----------+ | 19 | Channel20 | +-----+-----------+ | 20 | Channel21 | +-----+-----------+ | 21 | Channel22 | +-----+-----------+ | 22 | Channel23 | +-----+-----------+ | 23 | Channel24 | +-----+-----------+ | 24 | Channel25 | +-----+-----------+ | 25 | Channel26 | +-----+-----------+ | 26 | Channel27 | +-----+-----------+ | 28 | Channel29 | +-----+-----------+ | 29 | Channel30 | +-----+-----------+ | 30 | Channel31 | +-----+-----------+ | 31 | Channel32 | +-----+-----------+ .. _SERVO_VOLZ_RANGE: SERVO\_VOLZ\_RANGE: Range of travel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Range to map between 1000 and 2000 PWM\. Default value of 200 gives full \+\-100 deg range of extended position command\. This results in 0\.2 deg movement per US change in PWM\. If the full range is not needed it can be reduced to increase resolution\. 40 deg range gives 0\.04 deg movement per US change in PWM\, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution\. Reduced range does allow PWMs outside the 1000 to 2000 range\, with 40 deg range 750 PWM results in a angle of \-30 deg\, 2250 would be \+30 deg\. This is still limited by the 200 deg maximum range of the actuator\. +---------+ | Units | +=========+ | degrees | +---------+ .. _parameters_sim: Simulation Parameters --------------------- .. _SIM_DRIFT_SPEED: SIM\_DRIFT\_SPEED: Gyro drift speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Gyro drift rate of change in degrees\/second\/minute .. _SIM_DRIFT_TIME: SIM\_DRIFT\_TIME: Gyro drift time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Gyro drift duration of one full drift cycle \(period in minutes\) .. _SIM_ENGINE_MUL: SIM\_ENGINE\_MUL: Engine failure thrust scaler ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Thrust from Motors in SIM\_ENGINE\_FAIL will be multiplied by this factor +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _SIM_WIND_SPD: SIM\_WIND\_SPD: Simulated Wind speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to emulate wind in sim +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_WIND_DIR: SIM\_WIND\_DIR: Direction simulated wind is coming from ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to set wind direction \(true deg\) in sim +---------+ | Units | +=========+ | degrees | +---------+ .. _SIM_WIND_TURB: SIM\_WIND\_TURB: Simulated Wind variation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to emulate random wind variations in sim +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_WIND_TC: SIM\_WIND\_TC: Wind variation time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* this controls the time over which wind changes take effect +---------+ | Units | +=========+ | seconds | +---------+ .. _SIM_BATT_VOLTAGE: SIM\_BATT\_VOLTAGE: Simulated battery resting voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated battery resting voltage \(no load sag\)\. Defaults to and clipped to the battery model\'s maximum voltage\. Changes re\-initialize the state of charge\, and values below the maximum indicate a partially\-charged battery\. For batteries with unlimited capacity\, see \`SIM\_BATT\_CAP\_AH\`\. Value ignored when receiving battery state updates from an external source\. +-------+ | Units | +=======+ | volt | +-------+ .. _SIM_BATT_CAP_AH: SIM\_BATT\_CAP\_AH: Simulated battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated battery capacity\. Changes re\-initialize the state of charge of the battery\. Set to 0 for unlimited capacity\. Value ignored when receiving battery state updates from an external source\. +-------------+ | Units | +=============+ | ampere hour | +-------------+ .. _SIM_BATT_RES_OHM: SIM\_BATT\_RES\_OHM: Simulated battery internal resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Simulated battery internal resistance\, used to model voltage sag under load \(sag \= current \* resistance\) and temperature growth\. A negative value implies \"use previous resistance\"\, which is the default in order that a model\-provided resistance is the default behavior\. Set to 0 to disable voltage sag and temperature growth entirely\. +-------+ | Units | +=======+ | Ohm | +-------+ .. _SIM_RC_FAIL: SIM\_RC\_FAIL: Simulated RC signal failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to emulate rc failures in sim +-------+-----------------------------------------------+ | Value | Meaning | +=======+===============================================+ | 0 | Disabled | +-------+-----------------------------------------------+ | 1 | No RC pusles | +-------+-----------------------------------------------+ | 2 | All Channels neutral except Throttle is 950us | +-------+-----------------------------------------------+ .. _SIM_FLOAT_EXCEPT: SIM\_FLOAT\_EXCEPT: Generate floating point exceptions ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If set\, if a numerical error occurs SITL will die with a floating point exception\. .. _SIM_CAN_SRV_MSK: SIM\_CAN\_SRV\_MSK: Mask of CAN servos\/ESCs ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The set of actuators controlled externally by CAN SITL AP\_Periph +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Servo 1 | +-----+----------+ | 1 | Servo 2 | +-----+----------+ | 2 | Servo 3 | +-----+----------+ | 3 | Servo 4 | +-----+----------+ | 4 | Servo 5 | +-----+----------+ | 5 | Servo 6 | +-----+----------+ | 6 | Servo 7 | +-----+----------+ | 7 | Servo 8 | +-----+----------+ | 8 | Servo 9 | +-----+----------+ | 9 | Servo 10 | +-----+----------+ | 10 | Servo 11 | +-----+----------+ | 11 | Servo 12 | +-----+----------+ | 12 | Servo 13 | +-----+----------+ | 13 | Servo 14 | +-----+----------+ | 14 | Servo 15 | +-----+----------+ | 15 | Servo 16 | +-----+----------+ | 16 | Servo 17 | +-----+----------+ | 17 | Servo 18 | +-----+----------+ | 18 | Servo 19 | +-----+----------+ | 19 | Servo 20 | +-----+----------+ | 20 | Servo 21 | +-----+----------+ | 21 | Servo 22 | +-----+----------+ | 22 | Servo 23 | +-----+----------+ | 23 | Servo 24 | +-----+----------+ | 24 | Servo 25 | +-----+----------+ | 25 | Servo 26 | +-----+----------+ | 26 | Servo 27 | +-----+----------+ | 27 | Servo 28 | +-----+----------+ | 28 | Servo 29 | +-----+----------+ | 29 | Servo 30 | +-----+----------+ | 30 | Servo 31 | +-----+----------+ | 31 | Servo 32 | +-----+----------+ .. _SIM_CAN_TYPE1: SIM\_CAN\_TYPE1: transport type for first CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* transport type for first CAN interface +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 1 | MulticastUDP | +-------+--------------+ | 2 | SocketCAN | +-------+--------------+ .. _SIM_CAN_TYPE2: SIM\_CAN\_TYPE2: transport type for second CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* transport type for second CAN interface +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | None | +-------+--------------+ | 1 | MulticastUDP | +-------+--------------+ | 2 | SocketCAN | +-------+--------------+ .. _SIM_FLOW_ENABLE: SIM\_FLOW\_ENABLE: Opflow Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable simulated Optical Flow sensor +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enabled | +-------+---------+ .. _SIM_TERRAIN: SIM\_TERRAIN: Terrain Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable using terrain for height +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enabled | +-------+---------+ .. _SIM_FLOW_RATE: SIM\_FLOW\_RATE: Opflow Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Opflow Data Rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_FLOW_DELAY: SIM\_FLOW\_DELAY: Opflow Delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Opflow data delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_ADSB_COUNT: SIM\_ADSB\_COUNT: Number of ADSB aircrafts ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total number of ADSB simulated aircraft .. _SIM_ADSB_RADIUS: SIM\_ADSB\_RADIUS: ADSB radius stddev of another aircraft ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Simulated standard deviation of radius in ADSB of another aircraft +--------+ | Units | +========+ | meters | +--------+ .. _SIM_ADSB_ALT: SIM\_ADSB\_ALT: ADSB altitude of another aircraft ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Simulated ADSB altitude of another aircraft +--------+ | Units | +========+ | meters | +--------+ .. _SIM_PIN_MASK: SIM\_PIN\_MASK: GPIO emulation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SITL GPIO emulation .. _SIM_ADSB_TX: SIM\_ADSB\_TX: ADSB transmit enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ADSB transceiever enable and disable +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Transceiever disable | +-------+----------------------+ | 1 | Transceiever enable | +-------+----------------------+ .. _SIM_SPEEDUP: SIM\_SPEEDUP: Sim Speedup ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Runs the simulation at multiples of normal speed\. Do not use if realtime physics\, like RealFlight\, is being used +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _SIM_IMU_POS_X: SIM\_IMU\_POS\_X: IMU Offsets ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ XYZ position of the IMU accelerometer relative to the body frame origin \(X\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_IMU_POS_Y: SIM\_IMU\_POS\_Y: IMU Offsets ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ XYZ position of the IMU accelerometer relative to the body frame origin \(Y\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_IMU_POS_Z: SIM\_IMU\_POS\_Z: IMU Offsets ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ XYZ position of the IMU accelerometer relative to the body frame origin \(Z\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_FLOW_POS_X: SIM\_FLOW\_POS\_X: Opflow Pos ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ XYZ position of the optical flow sensor focal point relative to the body frame origin \(X\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_FLOW_POS_Y: SIM\_FLOW\_POS\_Y: Opflow Pos ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ XYZ position of the optical flow sensor focal point relative to the body frame origin \(Y\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_FLOW_POS_Z: SIM\_FLOW\_POS\_Z: Opflow Pos ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ XYZ position of the optical flow sensor focal point relative to the body frame origin \(Z\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_ENGINE_FAIL: SIM\_ENGINE\_FAIL: Engine Fail Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ mask of motors which SIM\_ENGINE\_MUL will be applied to +-----+----------+ | Bit | Meaning | +=====+==========+ | 0 | Servo 1 | +-----+----------+ | 1 | Servo 2 | +-----+----------+ | 2 | Servo 3 | +-----+----------+ | 3 | Servo 4 | +-----+----------+ | 4 | Servo 5 | +-----+----------+ | 5 | Servo 6 | +-----+----------+ | 6 | Servo 7 | +-----+----------+ | 7 | Servo 8 | +-----+----------+ | 8 | Servo 9 | +-----+----------+ | 9 | Servo 10 | +-----+----------+ | 10 | Servo 11 | +-----+----------+ | 11 | Servo 12 | +-----+----------+ | 12 | Servo 13 | +-----+----------+ | 13 | Servo 14 | +-----+----------+ | 14 | Servo 15 | +-----+----------+ | 15 | Servo 16 | +-----+----------+ | 16 | Servo 17 | +-----+----------+ | 17 | Servo 18 | +-----+----------+ | 18 | Servo 19 | +-----+----------+ | 19 | Servo 20 | +-----+----------+ | 20 | Servo 21 | +-----+----------+ | 21 | Servo 22 | +-----+----------+ | 22 | Servo 23 | +-----+----------+ | 23 | Servo 24 | +-----+----------+ | 24 | Servo 25 | +-----+----------+ | 25 | Servo 26 | +-----+----------+ | 26 | Servo 27 | +-----+----------+ | 27 | Servo 28 | +-----+----------+ | 28 | Servo 29 | +-----+----------+ | 29 | Servo 30 | +-----+----------+ | 30 | Servo 31 | +-----+----------+ | 31 | Servo 32 | +-----+----------+ .. _SIM_TEMP_START: SIM\_TEMP\_START: Start temperature ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Baro start temperature +-----------------+ | Units | +=================+ | degrees Celsius | +-----------------+ .. _SIM_TEMP_BRD_OFF: SIM\_TEMP\_BRD\_OFF: Baro temperature offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer board temperature offset from atmospheric temperature +-----------------+ | Units | +=================+ | degrees Celsius | +-----------------+ .. _SIM_TEMP_TCONST: SIM\_TEMP\_TCONST: Warmup time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer warmup temperature time constant +-----------------+ | Units | +=================+ | degrees Celsius | +-----------------+ .. _SIM_TEMP_BFACTOR: SIM\_TEMP\_BFACTOR: Baro temperature factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* A pressure change with temperature that closely matches what has been observed with a ICM\-20789 .. _SIM_WIND_DIR_Z: SIM\_WIND\_DIR\_Z: Simulated wind vertical direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to set vertical wind direction \(true deg\) in sim\. 0 means pure horizontal wind\. 90 means pure updraft\. +---------+ | Units | +=========+ | degrees | +---------+ .. _SIM_WIND_T: SIM\_WIND\_T: Wind Profile Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Selects how wind varies from surface to WIND\_T\_ALT +-------+------------------------+ | Value | Meaning | +=======+========================+ | 0 | square law | +-------+------------------------+ | 1 | none | +-------+------------------------+ | 2 | linear-see WIND_T_COEF | +-------+------------------------+ .. _SIM_WIND_T_ALT: SIM\_WIND\_T\_ALT: Full Wind Altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Altitude at which wind reaches full strength\, decaying from full strength as altitude lowers to ground level +--------+ | Units | +========+ | meters | +--------+ .. _SIM_WIND_T_COEF: SIM\_WIND\_T\_COEF: Linear Wind Curve Coeff ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* For linear wind profile\,wind is reduced by \(Altitude\-WIND\_T\_ALT\) x this value .. _SIM_RC_CHANCOUNT: SIM\_RC\_CHANCOUNT: RC channel count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SITL RC channel count .. _SIM_WOW_PIN: SIM\_WOW\_PIN: Weight on Wheels Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL set this simulated pin to true if vehicle is on ground .. _SIM_VIB_FREQ_X: SIM\_VIB\_FREQ\_X: Vibration frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Frequency of vibration applied to IMU readings in SITL \(X\-axis\) +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_VIB_FREQ_Y: SIM\_VIB\_FREQ\_Y: Vibration frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Frequency of vibration applied to IMU readings in SITL \(Y\-axis\) +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_VIB_FREQ_Z: SIM\_VIB\_FREQ\_Z: Vibration frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Frequency of vibration applied to IMU readings in SITL \(Z\-axis\) +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_BAUDLIMIT_EN: SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SITL enable bandwidth limitting on telemetry ports with non\-zero values .. _SIM_SHOVE_X: SIM\_SHOVE\_X: Acceleration of shove x ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration of shove to vehicle in x axis +--------------------------+ | Units | +==========================+ | meters per square second | +--------------------------+ .. _SIM_SHOVE_Y: SIM\_SHOVE\_Y: Acceleration of shove y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration of shove to vehicle in y axis +--------------------------+ | Units | +==========================+ | meters per square second | +--------------------------+ .. _SIM_SHOVE_Z: SIM\_SHOVE\_Z: Acceleration of shove z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration of shove to vehicle in z axis +--------------------------+ | Units | +==========================+ | meters per square second | +--------------------------+ .. _SIM_SHOVE_TIME: SIM\_SHOVE\_TIME: Time length for shove ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Force to the vehicle over a period of time +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_FLOW_RND: SIM\_FLOW\_RND: Opflow noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Optical Flow sensor measurement noise +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_TWIST_X: SIM\_TWIST\_X: Twist x ~~~~~~~~~~~~~~~~~~~~~~ Rotational acceleration of twist x axis +---------------------------+ | Units | +===========================+ | radians per square second | +---------------------------+ .. _SIM_TWIST_Y: SIM\_TWIST\_Y: Twist y ~~~~~~~~~~~~~~~~~~~~~~ Rotational acceleration of twist y axis +---------------------------+ | Units | +===========================+ | radians per square second | +---------------------------+ .. _SIM_TWIST_Z: SIM\_TWIST\_Z: Twist z ~~~~~~~~~~~~~~~~~~~~~~ Rotational acceleration of twist z axis +---------------------------+ | Units | +===========================+ | radians per square second | +---------------------------+ .. _SIM_TWIST_TIME: SIM\_TWIST\_TIME: Twist time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time that twist is applied on the vehicle +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_GND_BEHAV: SIM\_GND\_BEHAV: Ground behavior ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ground behavior of aircraft \(tailsitter\, no movement\, forward only\) .. _SIM_IMU_ORIENT: SIM\_IMU\_ORIENT: IMU orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated orientation of the IMUs +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | None | +-------+----------------------+ | 1 | Yaw45 | +-------+----------------------+ | 2 | Yaw90 | +-------+----------------------+ | 3 | Yaw135 | +-------+----------------------+ | 4 | Yaw180 | +-------+----------------------+ | 5 | Yaw225 | +-------+----------------------+ | 6 | Yaw270 | +-------+----------------------+ | 7 | Yaw315 | +-------+----------------------+ | 8 | Roll180 | +-------+----------------------+ | 9 | Yaw45Roll180 | +-------+----------------------+ | 10 | Yaw90Roll180 | +-------+----------------------+ | 11 | Yaw135Roll180 | +-------+----------------------+ | 12 | Pitch180 | +-------+----------------------+ | 13 | Yaw225Roll180 | +-------+----------------------+ | 14 | Yaw270Roll180 | +-------+----------------------+ | 15 | Yaw315Roll180 | +-------+----------------------+ | 16 | Roll90 | +-------+----------------------+ | 17 | Yaw45Roll90 | +-------+----------------------+ | 18 | Yaw90Roll90 | +-------+----------------------+ | 19 | Yaw135Roll90 | +-------+----------------------+ | 20 | Roll270 | +-------+----------------------+ | 21 | Yaw45Roll270 | +-------+----------------------+ | 22 | Yaw90Roll270 | +-------+----------------------+ | 23 | Yaw135Roll270 | +-------+----------------------+ | 24 | Pitch90 | +-------+----------------------+ | 25 | Pitch270 | +-------+----------------------+ | 26 | Yaw90Pitch180 | +-------+----------------------+ | 27 | Yaw270Pitch180 | +-------+----------------------+ | 28 | Pitch90Roll90 | +-------+----------------------+ | 29 | Pitch90Roll180 | +-------+----------------------+ | 30 | Pitch90Roll270 | +-------+----------------------+ | 31 | Pitch180Roll90 | +-------+----------------------+ | 32 | Pitch180Roll270 | +-------+----------------------+ | 33 | Pitch270Roll90 | +-------+----------------------+ | 34 | Pitch270Roll180 | +-------+----------------------+ | 35 | Pitch270Roll270 | +-------+----------------------+ | 36 | Yaw90Pitch180Roll90 | +-------+----------------------+ | 37 | Yaw270Roll90 | +-------+----------------------+ | 38 | Yaw293Pitch68Roll180 | +-------+----------------------+ | 39 | Pitch315 | +-------+----------------------+ | 40 | Pitch315Roll90 | +-------+----------------------+ | 42 | Roll45 | +-------+----------------------+ | 43 | Roll315 | +-------+----------------------+ | 100 | Custom 4.1 and older | +-------+----------------------+ | 101 | Custom 1 | +-------+----------------------+ | 102 | Custom 2 | +-------+----------------------+ .. _SIM_WAVE_ENABLE: SIM\_WAVE\_ENABLE: Wave enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wave enable and modes +-------+--------------------------+ | Value | Meaning | +=======+==========================+ | 0 | disabled | +-------+--------------------------+ | 1 | roll and pitch | +-------+--------------------------+ | 2 | roll and pitch and heave | +-------+--------------------------+ .. _SIM_WAVE_LENGTH: SIM\_WAVE\_LENGTH: Wave length ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wave length in SITL +--------+ | Units | +========+ | meters | +--------+ .. _SIM_WAVE_AMP: SIM\_WAVE\_AMP: Wave amplitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wave amplitude in SITL +--------+ | Units | +========+ | meters | +--------+ .. _SIM_WAVE_DIR: SIM\_WAVE\_DIR: Wave direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Direction wave is coming from +---------+ | Units | +=========+ | degrees | +---------+ .. _SIM_WAVE_SPEED: SIM\_WAVE\_SPEED: Wave speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wave speed in SITL +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_TIDE_DIR: SIM\_TIDE\_DIR: Tide direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Tide direction wave is coming from +---------+ | Units | +=========+ | degrees | +---------+ .. _SIM_TIDE_SPEED: SIM\_TIDE\_SPEED: Tide speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Tide speed in simulation +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_OPOS_LAT: SIM\_OPOS\_LAT: Original Position \(Latitude\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies vehicle\'s startup latitude .. _SIM_OPOS_LNG: SIM\_OPOS\_LNG: Original Position \(Longitude\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies vehicle\'s startup longitude .. _SIM_OPOS_ALT: SIM\_OPOS\_ALT: Original Position \(Altitude\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies vehicle\'s startup altitude \(AMSL\) .. _SIM_OPOS_HDG: SIM\_OPOS\_HDG: Original Position \(Heading\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies vehicle\'s startup heading \(0\-360\) .. _SIM_LOOP_DELAY: SIM\_LOOP\_DELAY: Extra delay per main loop ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Extra time delay per main loop +--------------+ | Units | +==============+ | microseconds | +--------------+ .. _SIM_EFI_TYPE: SIM\_EFI\_TYPE: Type of Electronic Fuel Injection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Different types of Electronic Fuel Injection \(EFI\) systems +-------+-----------------------+ | Value | Meaning | +=======+=======================+ | 0 | None | +-------+-----------------------+ | 1 | MegaSquirt EFI system | +-------+-----------------------+ | 2 | Löweheiser EFI system | +-------+-----------------------+ | 8 | Hirth engines | +-------+-----------------------+ .. _SIM_VIB_MOT_HMNC: SIM\_VIB\_MOT\_HMNC: Motor harmonics ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Motor harmonics generated in SITL .. _SIM_VIB_MOT_MASK: SIM\_VIB\_MOT\_MASK: Motor mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Motor mask\, allowing external simulators to mark motors .. _SIM_VIB_MOT_MAX: SIM\_VIB\_MOT\_MAX: Max motor vibration frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Max frequency to use as baseline for adding motor noise for the gyros and accels +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_INS_THR_MIN: SIM\_INS\_THR\_MIN: Minimum throttle INS noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum throttle for simulated ins noise .. _SIM_VIB_MOT_MULT: SIM\_VIB\_MOT\_MULT: Vibration motor scale ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Amplitude scaling of motor noise relative to gyro\/accel noise .. _SIM_ODOM_ENABLE: SIM\_ODOM\_ENABLE: Odometry enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SITL odometry enabl +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _SIM_LED_LAYOUT: SIM\_LED\_LAYOUT: LED layout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ LED layout config value .. _SIM_THML_SCENARI: SIM\_THML\_SCENARI: Thermal scenarios ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scenario for thermalling simulation\, for soaring .. _SIM_RATE_HZ: SIM\_RATE\_HZ: Loop rate ~~~~~~~~~~~~~~~~~~~~~~~~ SITL Loop rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_IMU_COUNT: SIM\_IMU\_COUNT: IMU count ~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of simulated IMUs to create .. _SIM_BARO_COUNT: SIM\_BARO\_COUNT: Baro count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of simulated baros to create in SITL +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _SIM_TIME_JITTER: SIM\_TIME\_JITTER: Loop time jitter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Upper limit of random jitter in loop time +--------------+ | Units | +==============+ | microseconds | +--------------+ .. _SIM_ESC_TELEM: SIM\_ESC\_TELEM: Simulated ESC Telemetry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* enable perfect simulated ESC telemetry .. _SIM_ESC_ARM_RPM: SIM\_ESC\_ARM\_RPM: ESC RPM when armed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated RPM when motors are armed .. _SIM_UART_LOSS: SIM\_UART\_LOSS: UART byte loss percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets percentage of outgoing byte loss on UARTs +---------+ | Units | +=========+ | percent | +---------+ .. _SIM_ADSB_TYPES: SIM\_ADSB\_TYPES: Simulated ADSB Type mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* specifies which simulated ADSB types are active +-----+-------------+ | Bit | Meaning | +=====+=============+ | 0 | MAVLink | +-----+-------------+ | 3 | SageTechMXS | +-----+-------------+ .. _SIM_OSD_COLUMNS: SIM\_OSD\_COLUMNS: Simulated OSD number of text columns ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Simulated OSD number of text columns +-----------+ | Range | +===========+ | 10 to 100 | +-----------+ .. _SIM_OSD_ROWS: SIM\_OSD\_ROWS: Simulated OSD number of text rows ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Simulated OSD number of text rows +-----------+ | Range | +===========+ | 10 to 100 | +-----------+ .. _SIM_INIT_LAT_OFS: SIM\_INIT\_LAT\_OFS: Initial Latitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS initial lat offset from origin .. _SIM_INIT_LON_OFS: SIM\_INIT\_LON\_OFS: Initial Longitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS initial lon offset from origin .. _SIM_INIT_ALT_OFS: SIM\_INIT\_ALT\_OFS: Initial Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS initial alt offset from origin .. _SIM_GPS_LOG_NUM: SIM\_GPS\_LOG\_NUM: GPS Log Number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Log number for GPS\:update\_file\(\) .. _SIM_MAG_RND: SIM\_MAG\_RND: Mag motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Scaling factor for simulated vibration from motors .. _SIM_MAG_MOT_X: SIM\_MAG\_MOT\_X: Motor magnetic interference ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates distortion of magnetometer readings caused by motor current \(X\-axis\) +-----------------------+ | Units | +=======================+ | milligauss per ampere | +-----------------------+ .. _SIM_MAG_MOT_Y: SIM\_MAG\_MOT\_Y: Motor magnetic interference ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates distortion of magnetometer readings caused by motor current \(Y\-axis\) +-----------------------+ | Units | +=======================+ | milligauss per ampere | +-----------------------+ .. _SIM_MAG_MOT_Z: SIM\_MAG\_MOT\_Z: Motor magnetic interference ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates distortion of magnetometer readings caused by motor current \(Z\-axis\) +-----------------------+ | Units | +=======================+ | milligauss per ampere | +-----------------------+ .. _SIM_MAG_DELAY: SIM\_MAG\_DELAY: Mag measurement delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer measurement delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_MAG1_OFS_X: SIM\_MAG1\_OFS\_X: Magnetometer offset applied to SITL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer offset injected into the simulation \(X\-axis\) .. _SIM_MAG1_OFS_Y: SIM\_MAG1\_OFS\_Y: Magnetometer offset applied to SITL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer offset injected into the simulation \(Y\-axis\) .. _SIM_MAG1_OFS_Z: SIM\_MAG1\_OFS\_Z: Magnetometer offset applied to SITL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer offset injected into the simulation \(Z\-axis\) .. _SIM_MAG_ALY_X: SIM\_MAG\_ALY\_X: NED anomaly vector at ground level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates localized magnetic field distortions at ground level that decays with altitude\. \(X\-axis\) +------------+ | Units | +============+ | milligauss | +------------+ .. _SIM_MAG_ALY_Y: SIM\_MAG\_ALY\_Y: NED anomaly vector at ground level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates localized magnetic field distortions at ground level that decays with altitude\. \(Y\-axis\) +------------+ | Units | +============+ | milligauss | +------------+ .. _SIM_MAG_ALY_Z: SIM\_MAG\_ALY\_Z: NED anomaly vector at ground level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates localized magnetic field distortions at ground level that decays with altitude\. \(Z\-axis\) +------------+ | Units | +============+ | milligauss | +------------+ .. _SIM_MAG_ALY_HGT: SIM\_MAG\_ALY\_HGT: Magnetic anomaly height ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Height above ground where anomally strength has decayed to 1\/8 of the ground level value +--------+ | Units | +========+ | meters | +--------+ .. _SIM_MAG1_DIA_X: SIM\_MAG1\_DIA\_X: Magnetometer soft\-iron diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_X in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG1_DIA_Y: SIM\_MAG1\_DIA\_Y: Magnetometer soft\-iron diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Y in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG1_DIA_Z: SIM\_MAG1\_DIA\_Z: Magnetometer soft\-iron diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Z in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG1_ODI_X: SIM\_MAG1\_ODI\_X: Magnetometer soft\-iron off\-diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_X in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG1_ODI_Y: SIM\_MAG1\_ODI\_Y: Magnetometer soft\-iron off\-diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Y in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG1_ODI_Z: SIM\_MAG1\_ODI\_Z: Magnetometer soft\-iron off\-diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Z in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG1_ORIENT: SIM\_MAG1\_ORIENT: MAG1 Orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* MAG1 external compass orientation .. _SIM_MAG1_SCALING: SIM\_MAG1\_SCALING: MAG1 Scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Scale the compass 1 to simulate sensor scale factor errors .. _SIM_MAG1_DEVID: SIM\_MAG1\_DEVID: MAG1 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 1 .. _SIM_MAG2_DEVID: SIM\_MAG2\_DEVID: MAG2 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 2 .. _SIM_MAG3_DEVID: SIM\_MAG3\_DEVID: MAG3 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 3 .. _SIM_MAG4_DEVID: SIM\_MAG4\_DEVID: MAG2 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 4 .. _SIM_MAG5_DEVID: SIM\_MAG5\_DEVID: MAG5 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 5 .. _SIM_MAG6_DEVID: SIM\_MAG6\_DEVID: MAG6 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 6 .. _SIM_MAG7_DEVID: SIM\_MAG7\_DEVID: MAG7 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 7 .. _SIM_MAG8_DEVID: SIM\_MAG8\_DEVID: MAG8 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 8 .. _SIM_MAG1_FAIL: SIM\_MAG1\_FAIL: MAG1 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of MAG1 +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disabled | +-------+--------------+ | 1 | MAG1 Failure | +-------+--------------+ .. _SIM_MAG2_OFS_X: SIM\_MAG2\_OFS\_X: Magnetometer offset applied to SITL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer offset injected into the simulation \(X\-axis\) .. _SIM_MAG2_OFS_Y: SIM\_MAG2\_OFS\_Y: Magnetometer offset applied to SITL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer offset injected into the simulation \(Y\-axis\) .. _SIM_MAG2_OFS_Z: SIM\_MAG2\_OFS\_Z: Magnetometer offset applied to SITL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer offset injected into the simulation \(Z\-axis\) .. _SIM_MAG2_DIA_X: SIM\_MAG2\_DIA\_X: Magnetometer soft\-iron diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_X in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG2_DIA_Y: SIM\_MAG2\_DIA\_Y: Magnetometer soft\-iron diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Y in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG2_DIA_Z: SIM\_MAG2\_DIA\_Z: Magnetometer soft\-iron diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Z in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG2_ODI_X: SIM\_MAG2\_ODI\_X: Magnetometer soft\-iron off\-diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_X in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG2_ODI_Y: SIM\_MAG2\_ODI\_Y: Magnetometer soft\-iron off\-diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Y in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG2_ODI_Z: SIM\_MAG2\_ODI\_Z: Magnetometer soft\-iron off\-diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Z in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG2_ORIENT: SIM\_MAG2\_ORIENT: MAG2 Orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* MAG2 external compass orientation .. _SIM_MAG2_FAIL: SIM\_MAG2\_FAIL: MAG2 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of MAG2 +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disabled | +-------+--------------+ | 1 | MAG2 Failure | +-------+--------------+ .. _SIM_MAG2_SCALING: SIM\_MAG2\_SCALING: MAG2 Scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Scale the compass 2 to simulate sensor scale factor errors .. _SIM_MAG3_OFS_X: SIM\_MAG3\_OFS\_X: Magnetometer offset applied to SITL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer offset injected into the simulation \(X\-axis\) .. _SIM_MAG3_OFS_Y: SIM\_MAG3\_OFS\_Y: Magnetometer offset applied to SITL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer offset injected into the simulation \(Y\-axis\) .. _SIM_MAG3_OFS_Z: SIM\_MAG3\_OFS\_Z: Magnetometer offset applied to SITL ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer offset injected into the simulation \(Z\-axis\) .. _SIM_MAG3_DIA_X: SIM\_MAG3\_DIA\_X: Magnetometer soft\-iron diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_X in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG3_DIA_Y: SIM\_MAG3\_DIA\_Y: Magnetometer soft\-iron diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Y in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG3_DIA_Z: SIM\_MAG3\_DIA\_Z: Magnetometer soft\-iron diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DIA\_Z in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG3_ODI_X: SIM\_MAG3\_ODI\_X: Magnetometer soft\-iron off\-diagonal X component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_X in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG3_ODI_Y: SIM\_MAG3\_ODI\_Y: Magnetometer soft\-iron off\-diagonal Y component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Y in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG3_ODI_Z: SIM\_MAG3\_ODI\_Z: Magnetometer soft\-iron off\-diagonal Z component ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ODI\_Z in the magnetometer soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] .. _SIM_MAG3_FAIL: SIM\_MAG3\_FAIL: MAG3 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of MAG3 +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Disabled | +-------+--------------+ | 1 | MAG3 Failure | +-------+--------------+ .. _SIM_MAG3_SCALING: SIM\_MAG3\_SCALING: MAG3 Scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Scale the compass 3 to simulate sensor scale factor errors .. _SIM_MAG3_ORIENT: SIM\_MAG3\_ORIENT: MAG3 Orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* MAG3 external compass orientation .. _SIM_MAG_SAVE_IDS: SIM\_MAG\_SAVE\_IDS: Save MAG devids on startup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This forces saving of compass devids on startup so that simulated compasses start as calibrated +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_IMUT_START: SIM\_IMUT\_START: IMU temperature start ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Starting IMU temperature of a curve .. _SIM_IMUT_END: SIM\_IMUT\_END: IMU temperature end ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ending IMU temperature of a curve .. _SIM_IMUT_TCONST: SIM\_IMUT\_TCONST: IMU temperature time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ IMU temperature time constant of the curve .. _SIM_IMUT_FIXED: SIM\_IMUT\_FIXED: IMU fixed temperature ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ IMU fixed temperature by user .. _SIM_ACC1_BIAS_X: SIM\_ACC1\_BIAS\_X: Accel 1 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(X\-axis\) .. _SIM_ACC1_BIAS_Y: SIM\_ACC1\_BIAS\_Y: Accel 1 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Y\-axis\) .. _SIM_ACC1_BIAS_Z: SIM\_ACC1\_BIAS\_Z: Accel 1 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Z\-axis\) .. _SIM_ACC2_BIAS_X: SIM\_ACC2\_BIAS\_X: Accel 2 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(X\-axis\) .. _SIM_ACC2_BIAS_Y: SIM\_ACC2\_BIAS\_Y: Accel 2 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Y\-axis\) .. _SIM_ACC2_BIAS_Z: SIM\_ACC2\_BIAS\_Z: Accel 2 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Z\-axis\) .. _SIM_ACC3_BIAS_X: SIM\_ACC3\_BIAS\_X: Accel 3 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(X\-axis\) .. _SIM_ACC3_BIAS_Y: SIM\_ACC3\_BIAS\_Y: Accel 3 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Y\-axis\) .. _SIM_ACC3_BIAS_Z: SIM\_ACC3\_BIAS\_Z: Accel 3 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Z\-axis\) .. _SIM_GYR1_RND: SIM\_GYR1\_RND: Gyro 1 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_GYR2_RND: SIM\_GYR2\_RND: Gyro 2 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_GYR3_RND: SIM\_GYR3\_RND: Gyro 3 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_ACC1_RND: SIM\_ACC1\_RND: Accel 1 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_ACC2_RND: SIM\_ACC2\_RND: Accel 2 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_ACC3_RND: SIM\_ACC3\_RND: Accel 3 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_GYR1_SCALE_X: SIM\_GYR1\_SCALE\_X: Gyro 1 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(X\-axis\) .. _SIM_GYR1_SCALE_Y: SIM\_GYR1\_SCALE\_Y: Gyro 1 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Y\-axis\) .. _SIM_GYR1_SCALE_Z: SIM\_GYR1\_SCALE\_Z: Gyro 1 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Z\-axis\) .. _SIM_GYR2_SCALE_X: SIM\_GYR2\_SCALE\_X: Gyro 2 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(X\-axis\) .. _SIM_GYR2_SCALE_Y: SIM\_GYR2\_SCALE\_Y: Gyro 2 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Y\-axis\) .. _SIM_GYR2_SCALE_Z: SIM\_GYR2\_SCALE\_Z: Gyro 2 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Z\-axis\) .. _SIM_GYR3_SCALE_X: SIM\_GYR3\_SCALE\_X: Gyro 3 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(X\-axis\) .. _SIM_GYR3_SCALE_Y: SIM\_GYR3\_SCALE\_Y: Gyro 3 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Y\-axis\) .. _SIM_GYR3_SCALE_Z: SIM\_GYR3\_SCALE\_Z: Gyro 3 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Z\-axis\) .. _SIM_ACCEL1_FAIL: SIM\_ACCEL1\_FAIL: ACCEL1 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of ACCEL1 +-------+----------------+ | Value | Meaning | +=======+================+ | 0 | Disabled | +-------+----------------+ | 1 | ACCEL1 Failure | +-------+----------------+ .. _SIM_ACCEL2_FAIL: SIM\_ACCEL2\_FAIL: ACCEL2 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of ACCEL2 +-------+----------------+ | Value | Meaning | +=======+================+ | 0 | Disabled | +-------+----------------+ | 1 | ACCEL2 Failure | +-------+----------------+ .. _SIM_ACCEL3_FAIL: SIM\_ACCEL3\_FAIL: ACCEL3 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of ACCEL3 +-------+----------------+ | Value | Meaning | +=======+================+ | 0 | Disabled | +-------+----------------+ | 1 | ACCEL3 Failure | +-------+----------------+ .. _SIM_GYR_FAIL_MSK: SIM\_GYR\_FAIL\_MSK: Gyro Failure Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Disabled | +-------+------------------+ | 1 | Readings stopped | +-------+------------------+ .. _SIM_ACC_FAIL_MSK: SIM\_ACC\_FAIL\_MSK: Accelerometer Failure Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | Disabled | +-------+------------------+ | 1 | Readings stopped | +-------+------------------+ .. _SIM_ACC1_SCAL_X: SIM\_ACC1\_SCAL\_X: Accel 1 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(X\-axis\) .. _SIM_ACC1_SCAL_Y: SIM\_ACC1\_SCAL\_Y: Accel 1 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Y\-axis\) .. _SIM_ACC1_SCAL_Z: SIM\_ACC1\_SCAL\_Z: Accel 1 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Z\-axis\) .. _SIM_ACC2_SCAL_X: SIM\_ACC2\_SCAL\_X: Accel 2 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(X\-axis\) .. _SIM_ACC2_SCAL_Y: SIM\_ACC2\_SCAL\_Y: Accel 2 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Y\-axis\) .. _SIM_ACC2_SCAL_Z: SIM\_ACC2\_SCAL\_Z: Accel 2 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Z\-axis\) .. _SIM_ACC3_SCAL_X: SIM\_ACC3\_SCAL\_X: Accel 3 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(X\-axis\) .. _SIM_ACC3_SCAL_Y: SIM\_ACC3\_SCAL\_Y: Accel 3 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Y\-axis\) .. _SIM_ACC3_SCAL_Z: SIM\_ACC3\_SCAL\_Z: Accel 3 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Z\-axis\) .. _SIM_BRD_TRIM_X: SIM\_BRD\_TRIM\_X: Board mounting trim ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(X\-axis\) .. _SIM_BRD_TRIM_Y: SIM\_BRD\_TRIM\_Y: Board mounting trim ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(Y\-axis\) .. _SIM_BRD_TRIM_Z: SIM\_BRD\_TRIM\_Z: Board mounting trim ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(Z\-axis\) .. _SIM_SAIL_TYPE: SIM\_SAIL\_TYPE: Sailboat simulation sail type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0\: mainsail with sheet\, 1\: directly actuated wing .. _SIM_JSON_MASTER: SIM\_JSON\_MASTER: JSON master instance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ the instance number to take servos from .. _SIM_OH_MASK: SIM\_OH\_MASK: SIM\-on\_hardware Output Enable Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ channels which are passed through to actual hardware when running sim on actual hardware .. _SIM_GYR_FILE_RW: SIM\_GYR\_FILE\_RW: Gyro data to\/from files ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Read and write gyro data to\/from files +-------+-------------------------------------+ | Value | Meaning | +=======+=====================================+ | 0 | Stop writing data | +-------+-------------------------------------+ | 1 | Read data from file | +-------+-------------------------------------+ | 2 | Write data to a file | +-------+-------------------------------------+ | 3 | Read data from file and stop on EOF | +-------+-------------------------------------+ .. _SIM_ACC_FILE_RW: SIM\_ACC\_FILE\_RW: Accelerometer data to\/from files ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Read and write accelerometer data to\/from files +-------+-------------------------------------+ | Value | Meaning | +=======+=====================================+ | 0 | Stop writing data | +-------+-------------------------------------+ | 1 | Read data from file | +-------+-------------------------------------+ | 2 | Write data to a file | +-------+-------------------------------------+ | 3 | Read data from file and stop on EOF | +-------+-------------------------------------+ .. _SIM_GYR1_BIAS_X: SIM\_GYR1\_BIAS\_X: First Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First Gyro bias \(X\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR1_BIAS_Y: SIM\_GYR1\_BIAS\_Y: First Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First Gyro bias \(Y\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR1_BIAS_Z: SIM\_GYR1\_BIAS\_Z: First Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* First Gyro bias \(Z\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR2_BIAS_X: SIM\_GYR2\_BIAS\_X: Second Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second Gyro bias \(X\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR2_BIAS_Y: SIM\_GYR2\_BIAS\_Y: Second Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second Gyro bias \(Y\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR2_BIAS_Z: SIM\_GYR2\_BIAS\_Z: Second Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Second Gyro bias \(Z\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR3_BIAS_X: SIM\_GYR3\_BIAS\_X: Third Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third Gyro bias \(X\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR3_BIAS_Y: SIM\_GYR3\_BIAS\_Y: Third Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third Gyro bias \(Y\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR3_BIAS_Z: SIM\_GYR3\_BIAS\_Z: Third Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Third Gyro bias \(Z\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_ACC4_SCAL_X: SIM\_ACC4\_SCAL\_X: Accel 4 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(X\-axis\) .. _SIM_ACC4_SCAL_Y: SIM\_ACC4\_SCAL\_Y: Accel 4 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Y\-axis\) .. _SIM_ACC4_SCAL_Z: SIM\_ACC4\_SCAL\_Z: Accel 4 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Z\-axis\) .. _SIM_ACCEL4_FAIL: SIM\_ACCEL4\_FAIL: ACCEL4 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of ACCEL4 +-------+----------------+ | Value | Meaning | +=======+================+ | 0 | Disabled | +-------+----------------+ | 1 | ACCEL4 Failure | +-------+----------------+ .. _SIM_GYR4_SCALE_X: SIM\_GYR4\_SCALE\_X: Gyro 4 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(X\-axis\) .. _SIM_GYR4_SCALE_Y: SIM\_GYR4\_SCALE\_Y: Gyro 4 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Y\-axis\) .. _SIM_GYR4_SCALE_Z: SIM\_GYR4\_SCALE\_Z: Gyro 4 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Z\-axis\) .. _SIM_ACC4_RND: SIM\_ACC4\_RND: Accel 4 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_GYR4_RND: SIM\_GYR4\_RND: Gyro 4 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_ACC4_BIAS_X: SIM\_ACC4\_BIAS\_X: Accel 4 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(X\-axis\) .. _SIM_ACC4_BIAS_Y: SIM\_ACC4\_BIAS\_Y: Accel 4 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Y\-axis\) .. _SIM_ACC4_BIAS_Z: SIM\_ACC4\_BIAS\_Z: Accel 4 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Z\-axis\) .. _SIM_GYR4_BIAS_X: SIM\_GYR4\_BIAS\_X: Fourth Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Fourth Gyro bias \(X\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR4_BIAS_Y: SIM\_GYR4\_BIAS\_Y: Fourth Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Fourth Gyro bias \(Y\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR4_BIAS_Z: SIM\_GYR4\_BIAS\_Z: Fourth Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Fourth Gyro bias \(Z\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_ACC5_SCAL_X: SIM\_ACC5\_SCAL\_X: Accel 4 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(X\-axis\) .. _SIM_ACC5_SCAL_Y: SIM\_ACC5\_SCAL\_Y: Accel 4 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Y\-axis\) .. _SIM_ACC5_SCAL_Z: SIM\_ACC5\_SCAL\_Z: Accel 4 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated accelerometer \(Z\-axis\) .. _SIM_ACCEL5_FAIL: SIM\_ACCEL5\_FAIL: ACCEL5 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of ACCEL5 +-------+----------------+ | Value | Meaning | +=======+================+ | 0 | Disabled | +-------+----------------+ | 1 | ACCEL5 Failure | +-------+----------------+ .. _SIM_GYR5_SCALE_X: SIM\_GYR5\_SCALE\_X: Gyro 5 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(X\-axis\) .. _SIM_GYR5_SCALE_Y: SIM\_GYR5\_SCALE\_Y: Gyro 5 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Y\-axis\) .. _SIM_GYR5_SCALE_Z: SIM\_GYR5\_SCALE\_Z: Gyro 5 scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factors applied to simulated gyroscope \(Z\-axis\) .. _SIM_ACC5_RND: SIM\_ACC5\_RND: Accel 5 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_GYR5_RND: SIM\_GYR5\_RND: Gyro 5 motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* scaling factor for simulated vibration from motors .. _SIM_ACC5_BIAS_X: SIM\_ACC5\_BIAS\_X: Accel 5 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(X\-axis\) .. _SIM_ACC5_BIAS_Y: SIM\_ACC5\_BIAS\_Y: Accel 5 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Y\-axis\) .. _SIM_ACC5_BIAS_Z: SIM\_ACC5\_BIAS\_Z: Accel 5 bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bias of simulated accelerometer sensor \(Z\-axis\) .. _SIM_GYR5_BIAS_X: SIM\_GYR5\_BIAS\_X: Fifth Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Fifth Gyro bias \(X\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR5_BIAS_Y: SIM\_GYR5\_BIAS\_Y: Fifth Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Fifth Gyro bias \(Y\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_GYR5_BIAS_Z: SIM\_GYR5\_BIAS\_Z: Fifth Gyro bias ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Fifth Gyro bias \(Z\-axis\) +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_OH_RELAY_MSK: SIM\_OH\_RELAY\_MSK: SIM\-on\_hardware Relay Enable Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Allow relay output operation when running SIM\-on\-hardware .. _SIM_CLAMP_CH: SIM\_CLAMP\_CH: Simulated Clamp Channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If non\-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM .. _SIM_AHRS_OFF_RLL: SIM\_AHRS\_OFF\_RLL: Sim AHRS offset roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll offset applied to SIM AHRS type\. For testing stepless handover between AHRS estimators\. +-----------+---------+ | Range | Units | +===========+=========+ | -10 to 10 | degrees | +-----------+---------+ .. _SIM_AHRS_OFF_PIT: SIM\_AHRS\_OFF\_PIT: Sim AHRS offset pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch offset applied to SIM AHRS type\. For testing stepless handover between AHRS estimators\. +-----------+---------+ | Range | Units | +===========+=========+ | -10 to 10 | degrees | +-----------+---------+ .. _SIM_AHRS_OFF_YAW: SIM\_AHRS\_OFF\_YAW: Sim AHRS offset yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw offset applied to SIM AHRS type\. For testing stepless handover between AHRS estimators\. +-----------+---------+ | Range | Units | +===========+=========+ | -10 to 10 | degrees | +-----------+---------+ .. _SIM_IMUT1_ENABLE: SIM\_IMUT1\_ENABLE: Enable simulated temperature disturbance for sensor data ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Disable | +-------+-------------------+ | 1 | Enabled | +-------+-------------------+ | 2 | Learn Calibration | +-------+-------------------+ .. _SIM_IMUT1_ACC1_X: SIM\_IMUT1\_ACC1\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(X\-axis\) .. _SIM_IMUT1_ACC1_Y: SIM\_IMUT1\_ACC1\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Y\-axis\) .. _SIM_IMUT1_ACC1_Z: SIM\_IMUT1\_ACC1\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Z\-axis\) .. _SIM_IMUT1_ACC2_X: SIM\_IMUT1\_ACC2\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(X\-axis\) .. _SIM_IMUT1_ACC2_Y: SIM\_IMUT1\_ACC2\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Y\-axis\) .. _SIM_IMUT1_ACC2_Z: SIM\_IMUT1\_ACC2\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Z\-axis\) .. _SIM_IMUT1_ACC3_X: SIM\_IMUT1\_ACC3\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(X\-axis\) .. _SIM_IMUT1_ACC3_Y: SIM\_IMUT1\_ACC3\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Y\-axis\) .. _SIM_IMUT1_ACC3_Z: SIM\_IMUT1\_ACC3\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Z\-axis\) .. _SIM_IMUT1_GYR1_X: SIM\_IMUT1\_GYR1\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(X\-axis\) .. _SIM_IMUT1_GYR1_Y: SIM\_IMUT1\_GYR1\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Y\-axis\) .. _SIM_IMUT1_GYR1_Z: SIM\_IMUT1\_GYR1\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Z\-axis\) .. _SIM_IMUT1_GYR2_X: SIM\_IMUT1\_GYR2\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(X\-axis\) .. _SIM_IMUT1_GYR2_Y: SIM\_IMUT1\_GYR2\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Y\-axis\) .. _SIM_IMUT1_GYR2_Z: SIM\_IMUT1\_GYR2\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Z\-axis\) .. _SIM_IMUT1_GYR3_X: SIM\_IMUT1\_GYR3\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(X\-axis\) .. _SIM_IMUT1_GYR3_Y: SIM\_IMUT1\_GYR3\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Y\-axis\) .. _SIM_IMUT1_GYR3_Z: SIM\_IMUT1\_GYR3\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Z\-axis\) .. _SIM_IMUT1_TMAX: SIM\_IMUT1\_TMAX: Simulated temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum simulated temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_IMUT1_TMIN: SIM\_IMUT1\_TMIN: Simulated temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum simulated temperature that the calibration is valid for +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_IMUT2_ENABLE: SIM\_IMUT2\_ENABLE: Enable simulated temperature disturbance for sensor data ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Disable | +-------+-------------------+ | 1 | Enabled | +-------+-------------------+ | 2 | Learn Calibration | +-------+-------------------+ .. _SIM_IMUT2_ACC1_X: SIM\_IMUT2\_ACC1\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(X\-axis\) .. _SIM_IMUT2_ACC1_Y: SIM\_IMUT2\_ACC1\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Y\-axis\) .. _SIM_IMUT2_ACC1_Z: SIM\_IMUT2\_ACC1\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Z\-axis\) .. _SIM_IMUT2_ACC2_X: SIM\_IMUT2\_ACC2\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(X\-axis\) .. _SIM_IMUT2_ACC2_Y: SIM\_IMUT2\_ACC2\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Y\-axis\) .. _SIM_IMUT2_ACC2_Z: SIM\_IMUT2\_ACC2\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Z\-axis\) .. _SIM_IMUT2_ACC3_X: SIM\_IMUT2\_ACC3\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(X\-axis\) .. _SIM_IMUT2_ACC3_Y: SIM\_IMUT2\_ACC3\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Y\-axis\) .. _SIM_IMUT2_ACC3_Z: SIM\_IMUT2\_ACC3\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Z\-axis\) .. _SIM_IMUT2_GYR1_X: SIM\_IMUT2\_GYR1\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(X\-axis\) .. _SIM_IMUT2_GYR1_Y: SIM\_IMUT2\_GYR1\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Y\-axis\) .. _SIM_IMUT2_GYR1_Z: SIM\_IMUT2\_GYR1\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Z\-axis\) .. _SIM_IMUT2_GYR2_X: SIM\_IMUT2\_GYR2\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(X\-axis\) .. _SIM_IMUT2_GYR2_Y: SIM\_IMUT2\_GYR2\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Y\-axis\) .. _SIM_IMUT2_GYR2_Z: SIM\_IMUT2\_GYR2\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Z\-axis\) .. _SIM_IMUT2_GYR3_X: SIM\_IMUT2\_GYR3\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(X\-axis\) .. _SIM_IMUT2_GYR3_Y: SIM\_IMUT2\_GYR3\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Y\-axis\) .. _SIM_IMUT2_GYR3_Z: SIM\_IMUT2\_GYR3\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Z\-axis\) .. _SIM_IMUT2_TMAX: SIM\_IMUT2\_TMAX: Simulated temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum simulated temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_IMUT2_TMIN: SIM\_IMUT2\_TMIN: Simulated temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum simulated temperature that the calibration is valid for +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_IMUT3_ENABLE: SIM\_IMUT3\_ENABLE: Enable simulated temperature disturbance for sensor data ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Disable | +-------+-------------------+ | 1 | Enabled | +-------+-------------------+ | 2 | Learn Calibration | +-------+-------------------+ .. _SIM_IMUT3_ACC1_X: SIM\_IMUT3\_ACC1\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(X\-axis\) .. _SIM_IMUT3_ACC1_Y: SIM\_IMUT3\_ACC1\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Y\-axis\) .. _SIM_IMUT3_ACC1_Z: SIM\_IMUT3\_ACC1\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Z\-axis\) .. _SIM_IMUT3_ACC2_X: SIM\_IMUT3\_ACC2\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(X\-axis\) .. _SIM_IMUT3_ACC2_Y: SIM\_IMUT3\_ACC2\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Y\-axis\) .. _SIM_IMUT3_ACC2_Z: SIM\_IMUT3\_ACC2\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Z\-axis\) .. _SIM_IMUT3_ACC3_X: SIM\_IMUT3\_ACC3\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(X\-axis\) .. _SIM_IMUT3_ACC3_Y: SIM\_IMUT3\_ACC3\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Y\-axis\) .. _SIM_IMUT3_ACC3_Z: SIM\_IMUT3\_ACC3\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Z\-axis\) .. _SIM_IMUT3_GYR1_X: SIM\_IMUT3\_GYR1\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(X\-axis\) .. _SIM_IMUT3_GYR1_Y: SIM\_IMUT3\_GYR1\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Y\-axis\) .. _SIM_IMUT3_GYR1_Z: SIM\_IMUT3\_GYR1\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Z\-axis\) .. _SIM_IMUT3_GYR2_X: SIM\_IMUT3\_GYR2\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(X\-axis\) .. _SIM_IMUT3_GYR2_Y: SIM\_IMUT3\_GYR2\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Y\-axis\) .. _SIM_IMUT3_GYR2_Z: SIM\_IMUT3\_GYR2\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Z\-axis\) .. _SIM_IMUT3_GYR3_X: SIM\_IMUT3\_GYR3\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(X\-axis\) .. _SIM_IMUT3_GYR3_Y: SIM\_IMUT3\_GYR3\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Y\-axis\) .. _SIM_IMUT3_GYR3_Z: SIM\_IMUT3\_GYR3\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Z\-axis\) .. _SIM_IMUT3_TMAX: SIM\_IMUT3\_TMAX: Simulated temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum simulated temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_IMUT3_TMIN: SIM\_IMUT3\_TMIN: Simulated temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum simulated temperature that the calibration is valid for +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_IMUT4_ENABLE: SIM\_IMUT4\_ENABLE: Enable simulated temperature disturbance for sensor data ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Disable | +-------+-------------------+ | 1 | Enabled | +-------+-------------------+ | 2 | Learn Calibration | +-------+-------------------+ .. _SIM_IMUT4_ACC1_X: SIM\_IMUT4\_ACC1\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(X\-axis\) .. _SIM_IMUT4_ACC1_Y: SIM\_IMUT4\_ACC1\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Y\-axis\) .. _SIM_IMUT4_ACC1_Z: SIM\_IMUT4\_ACC1\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Z\-axis\) .. _SIM_IMUT4_ACC2_X: SIM\_IMUT4\_ACC2\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(X\-axis\) .. _SIM_IMUT4_ACC2_Y: SIM\_IMUT4\_ACC2\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Y\-axis\) .. _SIM_IMUT4_ACC2_Z: SIM\_IMUT4\_ACC2\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Z\-axis\) .. _SIM_IMUT4_ACC3_X: SIM\_IMUT4\_ACC3\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(X\-axis\) .. _SIM_IMUT4_ACC3_Y: SIM\_IMUT4\_ACC3\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Y\-axis\) .. _SIM_IMUT4_ACC3_Z: SIM\_IMUT4\_ACC3\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Z\-axis\) .. _SIM_IMUT4_GYR1_X: SIM\_IMUT4\_GYR1\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(X\-axis\) .. _SIM_IMUT4_GYR1_Y: SIM\_IMUT4\_GYR1\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Y\-axis\) .. _SIM_IMUT4_GYR1_Z: SIM\_IMUT4\_GYR1\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Z\-axis\) .. _SIM_IMUT4_GYR2_X: SIM\_IMUT4\_GYR2\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(X\-axis\) .. _SIM_IMUT4_GYR2_Y: SIM\_IMUT4\_GYR2\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Y\-axis\) .. _SIM_IMUT4_GYR2_Z: SIM\_IMUT4\_GYR2\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Z\-axis\) .. _SIM_IMUT4_GYR3_X: SIM\_IMUT4\_GYR3\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(X\-axis\) .. _SIM_IMUT4_GYR3_Y: SIM\_IMUT4\_GYR3\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Y\-axis\) .. _SIM_IMUT4_GYR3_Z: SIM\_IMUT4\_GYR3\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Z\-axis\) .. _SIM_IMUT4_TMAX: SIM\_IMUT4\_TMAX: Simulated temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum simulated temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_IMUT4_TMIN: SIM\_IMUT4\_TMIN: Simulated temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum simulated temperature that the calibration is valid for +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_IMUT5_ENABLE: SIM\_IMUT5\_ENABLE: Enable simulated temperature disturbance for sensor data ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration +-------+-------------------+ | Value | Meaning | +=======+===================+ | 0 | Disable | +-------+-------------------+ | 1 | Enabled | +-------+-------------------+ | 2 | Learn Calibration | +-------+-------------------+ .. _SIM_IMUT5_ACC1_X: SIM\_IMUT5\_ACC1\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(X\-axis\) .. _SIM_IMUT5_ACC1_Y: SIM\_IMUT5\_ACC1\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Y\-axis\) .. _SIM_IMUT5_ACC1_Z: SIM\_IMUT5\_ACC1\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 1st accelerometer \(Z\-axis\) .. _SIM_IMUT5_ACC2_X: SIM\_IMUT5\_ACC2\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(X\-axis\) .. _SIM_IMUT5_ACC2_Y: SIM\_IMUT5\_ACC2\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Y\-axis\) .. _SIM_IMUT5_ACC2_Z: SIM\_IMUT5\_ACC2\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 2nd accelerometer \(Z\-axis\) .. _SIM_IMUT5_ACC3_X: SIM\_IMUT5\_ACC3\_X: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(X\-axis\) .. _SIM_IMUT5_ACC3_Y: SIM\_IMUT5\_ACC3\_Y: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Y\-axis\) .. _SIM_IMUT5_ACC3_Z: SIM\_IMUT5\_ACC3\_Z: Applied simulated acceleration to accelerometer ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated acceleration to the 3rd accelerometer \(Z\-axis\) .. _SIM_IMUT5_GYR1_X: SIM\_IMUT5\_GYR1\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(X\-axis\) .. _SIM_IMUT5_GYR1_Y: SIM\_IMUT5\_GYR1\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Y\-axis\) .. _SIM_IMUT5_GYR1_Z: SIM\_IMUT5\_GYR1\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 1st gyroscope \(Z\-axis\) .. _SIM_IMUT5_GYR2_X: SIM\_IMUT5\_GYR2\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(X\-axis\) .. _SIM_IMUT5_GYR2_Y: SIM\_IMUT5\_GYR2\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Y\-axis\) .. _SIM_IMUT5_GYR2_Z: SIM\_IMUT5\_GYR2\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 2nd gyroscope \(Z\-axis\) .. _SIM_IMUT5_GYR3_X: SIM\_IMUT5\_GYR3\_X: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(X\-axis\) .. _SIM_IMUT5_GYR3_Y: SIM\_IMUT5\_GYR3\_Y: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Y\-axis\) .. _SIM_IMUT5_GYR3_Z: SIM\_IMUT5\_GYR3\_Z: Applied simulated angular rate to gyroscope ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the applied simulated angular rate to the 3rd gyroscope \(Z\-axis\) .. _SIM_IMUT5_TMAX: SIM\_IMUT5\_TMAX: Simulated temperature calibration max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum simulated temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_IMUT5_TMIN: SIM\_IMUT5\_TMIN: Simulated temperature calibration min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum simulated temperature that the calibration is valid for +-----------+-----------------+ | Range | Units | +===========+=================+ | -70 to 80 | degrees Celsius | +-----------+-----------------+ .. _SIM_SONAR_ROT: SIM\_SONAR\_ROT: Sonar rotation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sonar rotation from rotations enumeration .. _SIM_SONAR_GLITCH: SIM\_SONAR\_GLITCH: Sonar glitch probablility ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Probablility a sonar glitch would happen +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _SIM_SONAR_RND: SIM\_SONAR\_RND: Sonar noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Scaling factor for simulated sonar noise .. _SIM_SONAR_SCALE: SIM\_SONAR\_SCALE: Sonar conversion scale ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sonar conversion scale from distance to voltage +-----------------+ | Units | +=================+ | meters per volt | +-----------------+ .. _SIM_SONAR_POS_X: SIM\_SONAR\_POS\_X: Sonar Offsets ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ XYZ position of the sonar relative to the body frame origin \(X\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SONAR_POS_Y: SIM\_SONAR\_POS\_Y: Sonar Offsets ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ XYZ position of the sonar relative to the body frame origin \(Y\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SONAR_POS_Z: SIM\_SONAR\_POS\_Z: Sonar Offsets ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ XYZ position of the sonar relative to the body frame origin \(Z\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SONAR_OFFSET: SIM\_SONAR\_OFFSET: Sonar measurement offset\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sonar measurement offset\, in meters\. Can be used for error injection\. .. _SIM_AIS_COUNT: SIM\_AIS\_COUNT: Number of AIS vessels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total number of AIS simulated vessels .. _SIM_AIS_RADIUS: SIM\_AIS\_RADIUS: AIS radius stddev of vessels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Simulated standard deviation of radius in AIS of a vessel +--------+ | Units | +========+ | meters | +--------+ .. _SIM_ARSPD2_RND: SIM\_ARSPD2\_RND: Airspeed sensor noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated Airspeed sensor noise +--------+ | Units | +========+ | pascal | +--------+ .. _SIM_ARSPD2_OFS: SIM\_ARSPD2\_OFS: Airspeed sensor offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated Airspeed sensor offset +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_ARSPD2_FAIL: SIM\_ARSPD2\_FAIL: Airspeed sensor failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates Airspeed sensor 1 failure +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_ARSPD2_FAILP: SIM\_ARSPD2\_FAILP: Airspeed sensor failure pressure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor failure pressure +--------+ | Units | +========+ | pascal | +--------+ .. _SIM_ARSPD2_PITOT: SIM\_ARSPD2\_PITOT: Airspeed pitot tube failure pressure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor pitot tube failure pressure +--------+ | Units | +========+ | pascal | +--------+ .. _SIM_ARSPD2_SIGN: SIM\_ARSPD2\_SIGN: Airspeed signflip ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor with reversed pitot\/static connections +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_ARSPD2_RATIO: SIM\_ARSPD2\_RATIO: Airspeed ratios ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor ratio .. _SIM_ARSPD_RND: SIM\_ARSPD\_RND: Airspeed sensor noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated Airspeed sensor noise +--------+ | Units | +========+ | pascal | +--------+ .. _SIM_ARSPD_OFS: SIM\_ARSPD\_OFS: Airspeed sensor offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated Airspeed sensor offset +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_ARSPD_FAIL: SIM\_ARSPD\_FAIL: Airspeed sensor failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates Airspeed sensor 1 failure +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_ARSPD_FAILP: SIM\_ARSPD\_FAILP: Airspeed sensor failure pressure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor failure pressure +--------+ | Units | +========+ | pascal | +--------+ .. _SIM_ARSPD_PITOT: SIM\_ARSPD\_PITOT: Airspeed pitot tube failure pressure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor pitot tube failure pressure +--------+ | Units | +========+ | pascal | +--------+ .. _SIM_ARSPD_SIGN: SIM\_ARSPD\_SIGN: Airspeed signflip ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor with reversed pitot\/static connections +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_ARSPD_RATIO: SIM\_ARSPD\_RATIO: Airspeed ratios ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor ratio .. _SIM_BAR2_RND: SIM\_BAR2\_RND: Barometer noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer noise in height +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BAR2_DRIFT: SIM\_BAR2\_DRIFT: Barometer altitude drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer altitude drifts at this rate +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_BAR2_DISABLE: SIM\_BAR2\_DISABLE: Barometer disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Disable barometer in SITL +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _SIM_BAR2_GLITCH: SIM\_BAR2\_GLITCH: Barometer glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer glitch height in SITL +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BAR2_FREEZE: SIM\_BAR2\_FREEZE: Barometer freeze ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Freeze barometer to last recorded altitude .. _SIM_BAR2_DELAY: SIM\_BAR2\_DELAY: Barometer delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer data time delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_BAR2_WCF_FWD: SIM\_BAR2\_WCF\_FWD: Wind coefficient forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction forward in SITL .. _SIM_BAR2_WCF_BAK: SIM\_BAR2\_WCF\_BAK: Wind coefficient backward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction backward in SITL .. _SIM_BAR2_WCF_RGT: SIM\_BAR2\_WCF\_RGT: Wind coefficient right ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction right in SITL .. _SIM_BAR2_WCF_LFT: SIM\_BAR2\_WCF\_LFT: Wind coefficient left ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction left in SITL .. _SIM_BAR2_WCF_UP: SIM\_BAR2\_WCF\_UP: Wind coefficient up ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction up in SITL .. _SIM_BAR2_WCF_DN: SIM\_BAR2\_WCF\_DN: Wind coefficient down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction down in SITL .. _SIM_BAR2_GEFF_M: SIM\_BAR2\_GEFF\_M: Barometer ground effect altitude error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum simulated barometer altitude error from rotor\-downwash ground effect\, applied when motors are running\. Decays linearly to zero at 2m AGL\. Set to 0 to disable\. +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BAR3_RND: SIM\_BAR3\_RND: Barometer noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer noise in height +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BAR3_DRIFT: SIM\_BAR3\_DRIFT: Barometer altitude drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer altitude drifts at this rate +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_BAR3_DISABLE: SIM\_BAR3\_DISABLE: Barometer disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Disable barometer in SITL +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _SIM_BAR3_GLITCH: SIM\_BAR3\_GLITCH: Barometer glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer glitch height in SITL +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BAR3_FREEZE: SIM\_BAR3\_FREEZE: Barometer freeze ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Freeze barometer to last recorded altitude .. _SIM_BAR3_DELAY: SIM\_BAR3\_DELAY: Barometer delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer data time delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_BAR3_WCF_FWD: SIM\_BAR3\_WCF\_FWD: Wind coefficient forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction forward in SITL .. _SIM_BAR3_WCF_BAK: SIM\_BAR3\_WCF\_BAK: Wind coefficient backward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction backward in SITL .. _SIM_BAR3_WCF_RGT: SIM\_BAR3\_WCF\_RGT: Wind coefficient right ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction right in SITL .. _SIM_BAR3_WCF_LFT: SIM\_BAR3\_WCF\_LFT: Wind coefficient left ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction left in SITL .. _SIM_BAR3_WCF_UP: SIM\_BAR3\_WCF\_UP: Wind coefficient up ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction up in SITL .. _SIM_BAR3_WCF_DN: SIM\_BAR3\_WCF\_DN: Wind coefficient down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction down in SITL .. _SIM_BAR3_GEFF_M: SIM\_BAR3\_GEFF\_M: Barometer ground effect altitude error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum simulated barometer altitude error from rotor\-downwash ground effect\, applied when motors are running\. Decays linearly to zero at 2m AGL\. Set to 0 to disable\. +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BARO_RND: SIM\_BARO\_RND: Barometer noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer noise in height +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BARO_DRIFT: SIM\_BARO\_DRIFT: Barometer altitude drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer altitude drifts at this rate +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_BARO_DISABLE: SIM\_BARO\_DISABLE: Barometer disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Disable barometer in SITL +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _SIM_BARO_GLITCH: SIM\_BARO\_GLITCH: Barometer glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer glitch height in SITL +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BARO_FREEZE: SIM\_BARO\_FREEZE: Barometer freeze ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Freeze barometer to last recorded altitude .. _SIM_BARO_DELAY: SIM\_BARO\_DELAY: Barometer delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer data time delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_BARO_WCF_FWD: SIM\_BARO\_WCF\_FWD: Wind coefficient forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction forward in SITL .. _SIM_BARO_WCF_BAK: SIM\_BARO\_WCF\_BAK: Wind coefficient backward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction backward in SITL .. _SIM_BARO_WCF_RGT: SIM\_BARO\_WCF\_RGT: Wind coefficient right ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction right in SITL .. _SIM_BARO_WCF_LFT: SIM\_BARO\_WCF\_LFT: Wind coefficient left ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction left in SITL .. _SIM_BARO_WCF_UP: SIM\_BARO\_WCF\_UP: Wind coefficient up ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction up in SITL .. _SIM_BARO_WCF_DN: SIM\_BARO\_WCF\_DN: Wind coefficient down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction down in SITL .. _SIM_BARO_GEFF_M: SIM\_BARO\_GEFF\_M: Barometer ground effect altitude error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum simulated barometer altitude error from rotor\-downwash ground effect\, applied when motors are running\. Decays linearly to zero at 2m AGL\. Set to 0 to disable\. +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BZ_ENABLE: SIM\_BZ\_ENABLE: Buzzer enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the simulated buzzer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_BZ_PIN: SIM\_BZ\_PIN: buzzer pin ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the Buzzer is connected to \(start at 1\) +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _SIM_FRM_MASS: SIM\_FRM\_MASS: model mass ~~~~~~~~~~~~~~~~~~~~~~~~~~ mass of the multicopter model +-----------+ | Units | +===========+ | kilograms | +-----------+ .. _SIM_FRM_DIAG_SZ: SIM\_FRM\_DIAG\_SZ: model diagonal size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ diagonal motor to motor distance of the model +--------+ | Units | +========+ | meters | +--------+ .. _SIM_FRM_REF_SPD: SIM\_FRM\_REF\_SPD: reference speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ airspeed in the drag reference test\, at a fixed lean angle +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_FRM_REF_ANG: SIM\_FRM\_REF\_ANG: reference angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ lean angle in the drag reference test +---------+ | Units | +=========+ | degrees | +---------+ .. _SIM_FRM_REF_VOLT: SIM\_FRM\_REF\_VOLT: reference voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ battery voltage in the drag reference test +-------+ | Units | +=======+ | volt | +-------+ .. _SIM_FRM_REF_AMP: SIM\_FRM\_REF\_AMP: reference current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ battery current in the drag reference test +--------+ | Units | +========+ | ampere | +--------+ .. _SIM_FRM_REF_ALT: SIM\_FRM\_REF\_ALT: reference altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ altitude AMSL of the drag reference test +--------+ | Units | +========+ | meters | +--------+ .. _SIM_FRM_BAT_RES: SIM\_FRM\_BAT\_RES: battery resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ battery resistance +-------+ | Units | +=======+ | Ohm | +-------+ .. _SIM_FRM_BAT_VOLT: SIM\_FRM\_BAT\_VOLT: battery full voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ full pack battery voltage +-------+ | Units | +=======+ | volt | +-------+ .. _SIM_FRM_BAT_CAP: SIM\_FRM\_BAT\_CAP: battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ battery capacity\, zero for unlimited +-------------+ | Units | +=============+ | ampere hour | +-------------+ .. _SIM_FRM_HOVR_THR: SIM\_FRM\_HOVR\_THR: hover throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ throttle output \(CTUN\.ThO\) at hover at the reference altitude +-----------+ | Range | +===========+ | 0.05 to 1 | +-----------+ .. _SIM_FRM_EXPO: SIM\_FRM\_EXPO: thrust expo ~~~~~~~~~~~~~~~~~~~~~~~~~~~ motor thrust expo\, matching MOT\_THST\_EXPO .. _SIM_FRM_ROT_RATE: SIM\_FRM\_ROT\_RATE: rotation rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ terminal yaw rotation rate +--------------------+ | Units | +====================+ | degrees per second | +--------------------+ .. _SIM_FRM_PWM_MIN: SIM\_FRM\_PWM\_MIN: minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ minimum motor PWM in the reference test\, matching MOT\_PWM\_MIN +---------------------+ | Units | +=====================+ | PWM in microseconds | +---------------------+ .. _SIM_FRM_PWM_MAX: SIM\_FRM\_PWM\_MAX: maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ maximum motor PWM in the reference test\, matching MOT\_PWM\_MAX +---------------------+ | Units | +=====================+ | PWM in microseconds | +---------------------+ .. _SIM_FRM_SPIN_MIN: SIM\_FRM\_SPIN\_MIN: motor spin minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ minimum motor spin fraction\, matching MOT\_SPIN\_MIN +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _SIM_FRM_SPIN_MAX: SIM\_FRM\_SPIN\_MAX: motor spin maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ maximum motor spin fraction\, matching MOT\_SPIN\_MAX +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _SIM_FRM_SLEW_MAX: SIM\_FRM\_SLEW\_MAX: motor slew rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ maximum motor slew rate in throttle fraction per second +------------+ | Units | +============+ | per second | +------------+ .. _SIM_FRM_DISCAREA: SIM\_FRM\_DISCAREA: rotor disc area ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ total rotor disc area\. Coaxial rotors count as one rotor only +--------------+ | Units | +==============+ | square meter | +--------------+ .. _SIM_FRM_MDRAG: SIM\_FRM\_MDRAG: momentum drag coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ momentum drag coefficient of the rotors\. Defaults to zero on planes where the plane model handles drag .. _SIM_FRM_BBDRAG: SIM\_FRM\_BBDRAG: bluff body drag coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ scaling of the bluff body drag derived from the reference test\, zero for no bluff body drag\. Defaults to zero on planes where the plane model handles drag .. _SIM_FTOWESC_ENA: SIM\_FTOWESC\_ENA: FETtec OneWire ESC simulator enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the FETtecOneWireESC simulator +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_FTOWESC_POW: SIM\_FTOWESC\_POW: Power off FETtec ESC mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to turn power off to the simulated ESCs\. Bits correspond to the ESC ID\, \*NOT\* their servo channel\. .. _SIM_GLD_BLN_BRST: SIM\_GLD\_BLN\_BRST: balloon burst height ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ balloon burst height +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GLD_BLN_RATE: SIM\_GLD\_BLN\_RATE: balloon climb rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ balloon climb rate\. If the value is less than zero then the balloon is disabled\. +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS1_ENABLE: SIM\_GPS1\_ENABLE: GPS enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _SIM_GPS1_LAG_MS: SIM\_GPS1\_LAG\_MS: GPS Lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS lag +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_GPS1_TYPE: SIM\_GPS1\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the type of simulation used for GPS +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | None | +-------+---------+ | 1 | UBlox | +-------+---------+ | 5 | NMEA | +-------+---------+ | 6 | SBP | +-------+---------+ | 7 | File | +-------+---------+ | 8 | Nova | +-------+---------+ | 9 | SBP2 | +-------+---------+ | 11 | Trimble | +-------+---------+ | 19 | MSP | +-------+---------+ .. _SIM_GPS1_BYTELOS: SIM\_GPS1\_BYTELOS: GPS Byteloss ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Percent of bytes lost from GPS +---------+ | Units | +=========+ | percent | +---------+ .. _SIM_GPS1_NUMSATS: SIM\_GPS1\_NUMSATS: GPS Num Satellites ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of satellites GPS has in view .. _SIM_GPS1_GLTCH_X: SIM\_GPS1\_GLTCH\_X: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(X\-axis\) .. _SIM_GPS1_GLTCH_Y: SIM\_GPS1\_GLTCH\_Y: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(Y\-axis\) .. _SIM_GPS1_GLTCH_Z: SIM\_GPS1\_GLTCH\_Z: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(Z\-axis\) .. _SIM_GPS1_HZ: SIM\_GPS1\_HZ: GPS Hz ~~~~~~~~~~~~~~~~~~~~~ GPS Update rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_GPS1_DRFTALT: SIM\_GPS1\_DRFTALT: GPS Altitude Drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS altitude drift error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS1_POS_X: SIM\_GPS1\_POS\_X: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(X\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS1_POS_Y: SIM\_GPS1\_POS\_Y: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(Y\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS1_POS_Z: SIM\_GPS1\_POS\_Z: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(Z\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS1_NOISE: SIM\_GPS1\_NOISE: GPS vertical noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amplitude of the GPS vertical position error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS1_LCKTIME: SIM\_GPS1\_LCKTIME: GPS Lock Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Delay in seconds before GPS acquires lock +---------+ | Units | +=========+ | seconds | +---------+ .. _SIM_GPS1_ALT_OFS: SIM\_GPS1\_ALT\_OFS: GPS Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS Altitude Error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS1_HDG: SIM\_GPS1\_HDG: GPS Heading ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable GPS output of NMEA heading HDT sentence or UBLOX\_RELPOSNED +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Disabled | +-------+-------------------------+ | 1 | Emit HDT | +-------+-------------------------+ | 2 | Emit THS | +-------+-------------------------+ | 3 | KSXT | +-------+-------------------------+ | 4 | Be Moving Baseline Base | +-------+-------------------------+ .. _SIM_GPS1_ACC: SIM\_GPS1\_ACC: GPS Accuracy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Accuracy .. _SIM_GPS1_VERR_X: SIM\_GPS1\_VERR\_X: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(X\-axis\) .. _SIM_GPS1_VERR_Y: SIM\_GPS1\_VERR\_Y: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(Y\-axis\) .. _SIM_GPS1_VERR_Z: SIM\_GPS1\_VERR\_Z: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(Z\-axis\) .. _SIM_GPS1_JAM: SIM\_GPS1\_JAM: GPS jamming enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS jamming +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_GPS1_HDG_OFS: SIM\_GPS1\_HDG\_OFS: GPS heading offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS heading offset in degrees\. how off the simulated GPS heading is from the actual heading .. _SIM_GPS1_OPTIONS: SIM\_GPS1\_OPTIONS: GPS Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Options bitmask +-----+------------------+ | Bit | Meaning | +=====+==================+ | 0 | UBlox GPS is F9P | +-----+------------------+ .. _SIM_GPS1_FIXTYPE: SIM\_GPS1\_FIXTYPE: GPS Fix Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allow setting which fix type \(only some GPS\'s supported\)\; matches AP\_GPS\_FixType +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | No GPS connected | +-------+------------------+ | 1 | No Fix | +-------+------------------+ | 2 | 2D Fix | +-------+------------------+ | 3 | 3D Fix | +-------+------------------+ | 4 | 3D DGPS Fix | +-------+------------------+ | 5 | 3D RTK Float | +-------+------------------+ | 6 | 3D RTK Fixed | +-------+------------------+ .. _SIM_GPS1_HNSE: SIM\_GPS1\_HNSE: GPS horizontal noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Radius of the GPS horizontal position error in meters +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS1_GLTV_X: SIM\_GPS1\_GLTV\_X: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(X\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS1_GLTV_Y: SIM\_GPS1\_GLTV\_Y: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(Y\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS1_GLTV_Z: SIM\_GPS1\_GLTV\_Z: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(Z\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS2_ENABLE: SIM\_GPS2\_ENABLE: GPS enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _SIM_GPS2_LAG_MS: SIM\_GPS2\_LAG\_MS: GPS Lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS lag +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_GPS2_TYPE: SIM\_GPS2\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the type of simulation used for GPS +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | None | +-------+---------+ | 1 | UBlox | +-------+---------+ | 5 | NMEA | +-------+---------+ | 6 | SBP | +-------+---------+ | 7 | File | +-------+---------+ | 8 | Nova | +-------+---------+ | 9 | SBP2 | +-------+---------+ | 11 | Trimble | +-------+---------+ | 19 | MSP | +-------+---------+ .. _SIM_GPS2_BYTELOS: SIM\_GPS2\_BYTELOS: GPS Byteloss ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Percent of bytes lost from GPS +---------+ | Units | +=========+ | percent | +---------+ .. _SIM_GPS2_NUMSATS: SIM\_GPS2\_NUMSATS: GPS Num Satellites ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of satellites GPS has in view .. _SIM_GPS2_GLTCH_X: SIM\_GPS2\_GLTCH\_X: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(X\-axis\) .. _SIM_GPS2_GLTCH_Y: SIM\_GPS2\_GLTCH\_Y: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(Y\-axis\) .. _SIM_GPS2_GLTCH_Z: SIM\_GPS2\_GLTCH\_Z: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(Z\-axis\) .. _SIM_GPS2_HZ: SIM\_GPS2\_HZ: GPS Hz ~~~~~~~~~~~~~~~~~~~~~ GPS Update rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_GPS2_DRFTALT: SIM\_GPS2\_DRFTALT: GPS Altitude Drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS altitude drift error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS2_POS_X: SIM\_GPS2\_POS\_X: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(X\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS2_POS_Y: SIM\_GPS2\_POS\_Y: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(Y\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS2_POS_Z: SIM\_GPS2\_POS\_Z: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(Z\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS2_NOISE: SIM\_GPS2\_NOISE: GPS vertical noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amplitude of the GPS vertical position error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS2_LCKTIME: SIM\_GPS2\_LCKTIME: GPS Lock Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Delay in seconds before GPS acquires lock +---------+ | Units | +=========+ | seconds | +---------+ .. _SIM_GPS2_ALT_OFS: SIM\_GPS2\_ALT\_OFS: GPS Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS Altitude Error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS2_HDG: SIM\_GPS2\_HDG: GPS Heading ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable GPS output of NMEA heading HDT sentence or UBLOX\_RELPOSNED +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Disabled | +-------+-------------------------+ | 1 | Emit HDT | +-------+-------------------------+ | 2 | Emit THS | +-------+-------------------------+ | 3 | KSXT | +-------+-------------------------+ | 4 | Be Moving Baseline Base | +-------+-------------------------+ .. _SIM_GPS2_ACC: SIM\_GPS2\_ACC: GPS Accuracy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Accuracy .. _SIM_GPS2_VERR_X: SIM\_GPS2\_VERR\_X: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(X\-axis\) .. _SIM_GPS2_VERR_Y: SIM\_GPS2\_VERR\_Y: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(Y\-axis\) .. _SIM_GPS2_VERR_Z: SIM\_GPS2\_VERR\_Z: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(Z\-axis\) .. _SIM_GPS2_JAM: SIM\_GPS2\_JAM: GPS jamming enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS jamming +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_GPS2_HDG_OFS: SIM\_GPS2\_HDG\_OFS: GPS heading offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS heading offset in degrees\. how off the simulated GPS heading is from the actual heading .. _SIM_GPS2_OPTIONS: SIM\_GPS2\_OPTIONS: GPS Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Options bitmask +-----+------------------+ | Bit | Meaning | +=====+==================+ | 0 | UBlox GPS is F9P | +-----+------------------+ .. _SIM_GPS2_FIXTYPE: SIM\_GPS2\_FIXTYPE: GPS Fix Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allow setting which fix type \(only some GPS\'s supported\)\; matches AP\_GPS\_FixType +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | No GPS connected | +-------+------------------+ | 1 | No Fix | +-------+------------------+ | 2 | 2D Fix | +-------+------------------+ | 3 | 3D Fix | +-------+------------------+ | 4 | 3D DGPS Fix | +-------+------------------+ | 5 | 3D RTK Float | +-------+------------------+ | 6 | 3D RTK Fixed | +-------+------------------+ .. _SIM_GPS2_HNSE: SIM\_GPS2\_HNSE: GPS horizontal noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Radius of the GPS horizontal position error in meters +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS2_GLTV_X: SIM\_GPS2\_GLTV\_X: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(X\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS2_GLTV_Y: SIM\_GPS2\_GLTV\_Y: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(Y\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS2_GLTV_Z: SIM\_GPS2\_GLTV\_Z: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(Z\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS3_ENABLE: SIM\_GPS3\_ENABLE: GPS enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _SIM_GPS3_LAG_MS: SIM\_GPS3\_LAG\_MS: GPS Lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS lag +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_GPS3_TYPE: SIM\_GPS3\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the type of simulation used for GPS +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | None | +-------+---------+ | 1 | UBlox | +-------+---------+ | 5 | NMEA | +-------+---------+ | 6 | SBP | +-------+---------+ | 7 | File | +-------+---------+ | 8 | Nova | +-------+---------+ | 9 | SBP2 | +-------+---------+ | 11 | Trimble | +-------+---------+ | 19 | MSP | +-------+---------+ .. _SIM_GPS3_BYTELOS: SIM\_GPS3\_BYTELOS: GPS Byteloss ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Percent of bytes lost from GPS +---------+ | Units | +=========+ | percent | +---------+ .. _SIM_GPS3_NUMSATS: SIM\_GPS3\_NUMSATS: GPS Num Satellites ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of satellites GPS has in view .. _SIM_GPS3_GLTCH_X: SIM\_GPS3\_GLTCH\_X: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(X\-axis\) .. _SIM_GPS3_GLTCH_Y: SIM\_GPS3\_GLTCH\_Y: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(Y\-axis\) .. _SIM_GPS3_GLTCH_Z: SIM\_GPS3\_GLTCH\_Z: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(Z\-axis\) .. _SIM_GPS3_HZ: SIM\_GPS3\_HZ: GPS Hz ~~~~~~~~~~~~~~~~~~~~~ GPS Update rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_GPS3_DRFTALT: SIM\_GPS3\_DRFTALT: GPS Altitude Drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS altitude drift error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS3_POS_X: SIM\_GPS3\_POS\_X: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(X\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS3_POS_Y: SIM\_GPS3\_POS\_Y: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(Y\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS3_POS_Z: SIM\_GPS3\_POS\_Z: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(Z\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS3_NOISE: SIM\_GPS3\_NOISE: GPS vertical noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amplitude of the GPS vertical position error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS3_LCKTIME: SIM\_GPS3\_LCKTIME: GPS Lock Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Delay in seconds before GPS acquires lock +---------+ | Units | +=========+ | seconds | +---------+ .. _SIM_GPS3_ALT_OFS: SIM\_GPS3\_ALT\_OFS: GPS Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS Altitude Error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS3_HDG: SIM\_GPS3\_HDG: GPS Heading ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable GPS output of NMEA heading HDT sentence or UBLOX\_RELPOSNED +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Disabled | +-------+-------------------------+ | 1 | Emit HDT | +-------+-------------------------+ | 2 | Emit THS | +-------+-------------------------+ | 3 | KSXT | +-------+-------------------------+ | 4 | Be Moving Baseline Base | +-------+-------------------------+ .. _SIM_GPS3_ACC: SIM\_GPS3\_ACC: GPS Accuracy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Accuracy .. _SIM_GPS3_VERR_X: SIM\_GPS3\_VERR\_X: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(X\-axis\) .. _SIM_GPS3_VERR_Y: SIM\_GPS3\_VERR\_Y: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(Y\-axis\) .. _SIM_GPS3_VERR_Z: SIM\_GPS3\_VERR\_Z: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(Z\-axis\) .. _SIM_GPS3_JAM: SIM\_GPS3\_JAM: GPS jamming enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS jamming +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_GPS3_HDG_OFS: SIM\_GPS3\_HDG\_OFS: GPS heading offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS heading offset in degrees\. how off the simulated GPS heading is from the actual heading .. _SIM_GPS3_OPTIONS: SIM\_GPS3\_OPTIONS: GPS Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Options bitmask +-----+------------------+ | Bit | Meaning | +=====+==================+ | 0 | UBlox GPS is F9P | +-----+------------------+ .. _SIM_GPS3_FIXTYPE: SIM\_GPS3\_FIXTYPE: GPS Fix Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allow setting which fix type \(only some GPS\'s supported\)\; matches AP\_GPS\_FixType +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | No GPS connected | +-------+------------------+ | 1 | No Fix | +-------+------------------+ | 2 | 2D Fix | +-------+------------------+ | 3 | 3D Fix | +-------+------------------+ | 4 | 3D DGPS Fix | +-------+------------------+ | 5 | 3D RTK Float | +-------+------------------+ | 6 | 3D RTK Fixed | +-------+------------------+ .. _SIM_GPS3_HNSE: SIM\_GPS3\_HNSE: GPS horizontal noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Radius of the GPS horizontal position error in meters +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS3_GLTV_X: SIM\_GPS3\_GLTV\_X: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(X\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS3_GLTV_Y: SIM\_GPS3\_GLTV\_Y: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(Y\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS3_GLTV_Z: SIM\_GPS3\_GLTV\_Z: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(Z\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS4_ENABLE: SIM\_GPS4\_ENABLE: GPS enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _SIM_GPS4_LAG_MS: SIM\_GPS4\_LAG\_MS: GPS Lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS lag +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_GPS4_TYPE: SIM\_GPS4\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the type of simulation used for GPS +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | None | +-------+---------+ | 1 | UBlox | +-------+---------+ | 5 | NMEA | +-------+---------+ | 6 | SBP | +-------+---------+ | 7 | File | +-------+---------+ | 8 | Nova | +-------+---------+ | 9 | SBP2 | +-------+---------+ | 11 | Trimble | +-------+---------+ | 19 | MSP | +-------+---------+ .. _SIM_GPS4_BYTELOS: SIM\_GPS4\_BYTELOS: GPS Byteloss ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Percent of bytes lost from GPS +---------+ | Units | +=========+ | percent | +---------+ .. _SIM_GPS4_NUMSATS: SIM\_GPS4\_NUMSATS: GPS Num Satellites ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of satellites GPS has in view .. _SIM_GPS4_GLTCH_X: SIM\_GPS4\_GLTCH\_X: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(X\-axis\) .. _SIM_GPS4_GLTCH_Y: SIM\_GPS4\_GLTCH\_Y: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(Y\-axis\) .. _SIM_GPS4_GLTCH_Z: SIM\_GPS4\_GLTCH\_Z: GPS Glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS sensor \(Z\-axis\) .. _SIM_GPS4_HZ: SIM\_GPS4\_HZ: GPS Hz ~~~~~~~~~~~~~~~~~~~~~ GPS Update rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_GPS4_DRFTALT: SIM\_GPS4\_DRFTALT: GPS Altitude Drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS altitude drift error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS4_POS_X: SIM\_GPS4\_POS\_X: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(X\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS4_POS_Y: SIM\_GPS4\_POS\_Y: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(Y\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS4_POS_Z: SIM\_GPS4\_POS\_Z: GPS Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS antenna phase center position relative to the body frame origin \(Z\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS4_NOISE: SIM\_GPS4\_NOISE: GPS vertical noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amplitude of the GPS vertical position error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS4_LCKTIME: SIM\_GPS4\_LCKTIME: GPS Lock Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Delay in seconds before GPS acquires lock +---------+ | Units | +=========+ | seconds | +---------+ .. _SIM_GPS4_ALT_OFS: SIM\_GPS4\_ALT\_OFS: GPS Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS Altitude Error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS4_HDG: SIM\_GPS4\_HDG: GPS Heading ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable GPS output of NMEA heading HDT sentence or UBLOX\_RELPOSNED +-------+-------------------------+ | Value | Meaning | +=======+=========================+ | 0 | Disabled | +-------+-------------------------+ | 1 | Emit HDT | +-------+-------------------------+ | 2 | Emit THS | +-------+-------------------------+ | 3 | KSXT | +-------+-------------------------+ | 4 | Be Moving Baseline Base | +-------+-------------------------+ .. _SIM_GPS4_ACC: SIM\_GPS4\_ACC: GPS Accuracy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Accuracy .. _SIM_GPS4_VERR_X: SIM\_GPS4\_VERR\_X: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(X\-axis\) .. _SIM_GPS4_VERR_Y: SIM\_GPS4\_VERR\_Y: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(Y\-axis\) .. _SIM_GPS4_VERR_Z: SIM\_GPS4\_VERR\_Z: GPS Velocity Error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Velocity Error Offsets in NED \(Z\-axis\) .. _SIM_GPS4_JAM: SIM\_GPS4\_JAM: GPS jamming enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS jamming +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_GPS4_HDG_OFS: SIM\_GPS4\_HDG\_OFS: GPS heading offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS heading offset in degrees\. how off the simulated GPS heading is from the actual heading .. _SIM_GPS4_OPTIONS: SIM\_GPS4\_OPTIONS: GPS Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Options bitmask +-----+------------------+ | Bit | Meaning | +=====+==================+ | 0 | UBlox GPS is F9P | +-----+------------------+ .. _SIM_GPS4_FIXTYPE: SIM\_GPS4\_FIXTYPE: GPS Fix Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allow setting which fix type \(only some GPS\'s supported\)\; matches AP\_GPS\_FixType +-------+------------------+ | Value | Meaning | +=======+==================+ | 0 | No GPS connected | +-------+------------------+ | 1 | No Fix | +-------+------------------+ | 2 | 2D Fix | +-------+------------------+ | 3 | 3D Fix | +-------+------------------+ | 4 | 3D DGPS Fix | +-------+------------------+ | 5 | 3D RTK Float | +-------+------------------+ | 6 | 3D RTK Fixed | +-------+------------------+ .. _SIM_GPS4_HNSE: SIM\_GPS4\_HNSE: GPS horizontal noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Radius of the GPS horizontal position error in meters +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS4_GLTV_X: SIM\_GPS4\_GLTV\_X: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(X\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS4_GLTV_Y: SIM\_GPS4\_GLTV\_Y: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(Y\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GPS4_GLTV_Z: SIM\_GPS4\_GLTV\_Z: GPS velocity glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Glitch offsets of simulated GPS velocity in NED\. The reported position also moves continuously with this velocity\, so position and velocity stay consistent \(e\.g\. to simulate GPS spoofing that drifts the position\)\. The accumulated position offset is cleared when all three components are zero at a GPS update\, so when changing axes set the new component before zeroing the old one \(Z\-axis\) +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_GRPE_ENABLE: SIM\_GRPE\_ENABLE: Gripper servo Sim enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the gripper servo simulation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_GRPE_PIN: SIM\_GRPE\_PIN: Gripper emp pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the gripper emp is connected to\. \(start at 1\) +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _SIM_GRPS_ENABLE: SIM\_GRPS\_ENABLE: Gripper servo Sim enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the gripper servo simulation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_GRPS_PIN: SIM\_GRPS\_PIN: Gripper servo pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the gripper servo is connected to\. \(start at 1\) +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _SIM_GRPS_GRAB: SIM\_GRPS\_GRAB: Gripper Grab PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM value in microseconds sent to Gripper to initiate grabbing the cargo +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _SIM_GRPS_RELEASE: SIM\_GRPS\_RELEASE: Gripper Release PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM value in microseconds sent to Gripper to release the cargo +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _SIM_GRPS_REVERSE: SIM\_GRPS\_REVERSE: Gripper close direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse the closing direction\. +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Normal | +-------+---------+ | 1 | Reverse | +-------+---------+ .. _SIM_IE24_ENABLE: SIM\_IE24\_ENABLE: IntelligentEnergy 2\.4kWh FuelCell sim enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the FuelCell simulator +-------+-------------+ | Value | Meaning | +=======+=============+ | 0 | Disabled | +-------+-------------+ | 1 | V1 Protocol | +-------+-------------+ | 2 | V2 Protocol | +-------+-------------+ .. _SIM_IE24_STATE: SIM\_IE24\_STATE: Explicitly set state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Explicitly specify a state for the generator to be in .. _SIM_IE24_ERROR: SIM\_IE24\_ERROR: Explicitly set error code ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Explicitly specify an error code to send to the generator .. _SIM_PARA_ENABLE: SIM\_PARA\_ENABLE: Parachute Sim enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the Parachute simulation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_PARA_PIN: SIM\_PARA\_PIN: Parachute pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the Parachute pyrotechnics are connected to\. \(start at 1\) +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _SIM_PLD_ENABLE: SIM\_PLD\_ENABLE: Preland device Sim enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the Preland simulation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_PLD_LAT: SIM\_PLD\_LAT: Precland device center\'s latitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device center\'s latitude +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 0.000001 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _SIM_PLD_LON: SIM\_PLD\_LON: Precland device center\'s longitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device center\'s longitude +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 0.000001 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _SIM_PLD_HEIGHT: SIM\_PLD\_HEIGHT: Precland device center\'s height SITL origin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device center\'s height above SITL origin\. Assumes a 2x2m square as station base +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 1 | 0 to 10000 | meters | +-----------+------------+--------+ .. _SIM_PLD_YAW: SIM\_PLD\_YAW: Precland device systems rotation from north ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device systems rotation from north +-----------+--------------+---------+ | Increment | Range | Units | +===========+==============+=========+ | 1 | -180 to +180 | degrees | +-----------+--------------+---------+ .. _SIM_PLD_RATE: SIM\_PLD\_RATE: Precland device update rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device rate\. e\.g led patter refresh rate\, RF message rate\, etc\. +----------+-------+ | Range | Units | +==========+=======+ | 0 to 200 | hertz | +----------+-------+ .. _SIM_PLD_TYPE: SIM\_PLD\_TYPE: Precland device radiance type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device radiance type\: it can be a cylinder\, a cone\, or a sphere\. +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | cylinder | +-------+----------+ | 1 | cone | +-------+----------+ | 2 | sphere | +-------+----------+ .. _SIM_PLD_ALT_LMT: SIM\_PLD\_ALT\_LMT: Precland device alt range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device maximum range altitude +----------+--------+ | Range | Units | +==========+========+ | 0 to 100 | meters | +----------+--------+ .. _SIM_PLD_DIST_LMT: SIM\_PLD\_DIST\_LMT: Precland device lateral range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device maximum lateral range +----------+--------+ | Range | Units | +==========+========+ | 5 to 100 | meters | +----------+--------+ .. _SIM_PLD_ORIENT: SIM\_PLD\_ORIENT: Precland device orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device orientation vector +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Front | +-------+---------+ | 4 | Back | +-------+---------+ | 24 | Up | +-------+---------+ .. _SIM_PLD_OPTIONS: SIM\_PLD\_OPTIONS: SIM\_Precland extra options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SIM\_Precland extra options +-----+------------------------+ | Bit | Meaning | +=====+========================+ | 0 | Enable target distance | +-----+------------------------+ .. _SIM_PLD_SHIP: SIM\_PLD\_SHIP: SIM\_Precland follow ship ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This makes the position of the landing beacon follow the simulated ship from SIM\_SHIP\. The ship movement is controlled with the SIM\_SHIP parameters +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_RFL_OPTS: SIM\_RFL\_OPTS: FlightAxis options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of FlightAxis options +-----+--------------------------------------------------------+ | Bit | Meaning | +=====+========================================================+ | 0 | Reset position on startup | +-----+--------------------------------------------------------+ | 1 | Swap first 4 and last 4 servos (for quadplane testing) | +-----+--------------------------------------------------------+ | 2 | Demix heli servos and send roll/pitch/collective/yaw | +-----+--------------------------------------------------------+ | 3 | Don't print frame rate stats | +-----+--------------------------------------------------------+ | 4 | Don't log Dt stats | +-----+--------------------------------------------------------+ .. _SIM_RFL_SAMPLEHZ: SIM\_RFL\_SAMPLEHZ: FlightAxis IMU synthetic sample rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FlightAxis IMU synthetic sample rate .. _SIM_RICH_ENABLE: SIM\_RICH\_ENABLE: RichenPower Generator sim enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the RichenPower simulator +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_RICH_CTRL: SIM\_RICH\_CTRL: Pin RichenPower is connectred to ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the RichenPower spinner servo is connected to\. \(start at 1\) +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _SIM_SB_MASS: SIM\_SB\_MASS: mass ~~~~~~~~~~~~~~~~~~~ mass of blimp not including lifting gas +-----------+ | Units | +===========+ | kilograms | +-----------+ .. _SIM_SB_HMASS: SIM\_SB\_HMASS: helium mass ~~~~~~~~~~~~~~~~~~~~~~~~~~~ mass of lifting gas +-----------+ | Units | +===========+ | kilograms | +-----------+ .. _SIM_SB_ARM_LEN: SIM\_SB\_ARM\_LEN: arm length ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ distance from center of mass to one motor +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SB_MOT_THST: SIM\_SB\_MOT\_THST: motor thrust ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ thrust at max throttle for one motor +---------+ | Units | +=========+ | Newtons | +---------+ .. _SIM_SB_DRAG_FWD: SIM\_SB\_DRAG\_FWD: drag in forward direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ drag on X axis .. _SIM_SB_DRAG_SIDE: SIM\_SB\_DRAG\_SIDE: drag in sidewards direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ drag on Y axis .. _SIM_SB_DRAG_UP: SIM\_SB\_DRAG\_UP: drag in upward direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ drag on Z axis .. _SIM_SB_MOI_YAW: SIM\_SB\_MOI\_YAW: moment of inertia in yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ moment of inertia in yaw .. _SIM_SB_MOI_ROLL: SIM\_SB\_MOI\_ROLL: moment of inertia in roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ moment of inertia in roll .. _SIM_SB_MOI_PITCH: SIM\_SB\_MOI\_PITCH: moment of inertia in pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ moment of inertia in pitch .. _SIM_SB_ALT_TARG: SIM\_SB\_ALT\_TARG: altitude target ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ altitude target +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SB_CLMB_RT: SIM\_SB\_CLMB\_RT: target climb rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ target climb rate +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_SB_YAW_RT: SIM\_SB\_YAW\_RT: yaw rate ~~~~~~~~~~~~~~~~~~~~~~~~~~ maximum yaw rate with full left throttle at target altitude +--------------------+ | Units | +====================+ | degrees per second | +--------------------+ .. _SIM_SB_MOT_ANG: SIM\_SB\_MOT\_ANG: motor angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ maximum motor tilt angle +---------+ | Units | +=========+ | degrees | +---------+ .. _SIM_SB_COL: SIM\_SB\_COL: center of lift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ center of lift position above CoG +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SB_WVANE: SIM\_SB\_WVANE: weathervaning offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ center of drag for weathervaning +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SB_FLR: SIM\_SB\_FLR: free lift rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ amount of additional lift generated by the helper balloon \(for the purpose of ascent\)\, as a proportion of the \'neutral buoyancy\' lift .. _SIM_SERVO_SPEED: SIM\_SERVO\_SPEED: servo speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ servo speed \(time for 60 degree deflection\)\. If DELAY and FILTER are not set then this is converted to a 1p lowpass filter\. If DELAY or FILTER are set then this is treated as a rate of change limit +---------+ | Units | +=========+ | seconds | +---------+ .. _SIM_SERVO_DELAY: SIM\_SERVO\_DELAY: servo delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ servo delay +---------+ | Units | +=========+ | seconds | +---------+ .. _SIM_SERVO_FILTER: SIM\_SERVO\_FILTER: servo filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ servo filter +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_SHIP_ENABLE: SIM\_SHIP\_ENABLE: Ship landing Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable ship landing simulation +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enabled | +-------+---------+ .. _SIM_SHIP_SPEED: SIM\_SHIP\_SPEED: Ship Speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed of the ship +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_SHIP_PSIZE: SIM\_SHIP\_PSIZE: Path Size ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Diameter of the circle the ship is traveling on +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SHIP_SYSID: SIM\_SHIP\_SYSID: System ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~ System ID of the ship +-----------------+ | Range | +=================+ | 1 to 4294967295 | +-----------------+ .. _SIM_SHIP_DSIZE: SIM\_SHIP\_DSIZE: Deck Size ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Size of the ship\'s deck +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SHIP_OFS_X: SIM\_SHIP\_OFS\_X: Ship landing pad offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines the offset of the ship\'s landing pad w\.r\.t\. the ship\'s origin\, i\.e\. where the beacon is placed on the ship \(X\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SHIP_OFS_Y: SIM\_SHIP\_OFS\_Y: Ship landing pad offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines the offset of the ship\'s landing pad w\.r\.t\. the ship\'s origin\, i\.e\. where the beacon is placed on the ship \(Y\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SHIP_OFS_Z: SIM\_SHIP\_OFS\_Z: Ship landing pad offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines the offset of the ship\'s landing pad w\.r\.t\. the ship\'s origin\, i\.e\. where the beacon is placed on the ship \(Z\-axis\) +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SLUP_ENABLE: SIM\_SLUP\_ENABLE: Slung Payload Sim enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Slung Payload Sim enable\/disable +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_SLUP_WEIGHT: SIM\_SLUP\_WEIGHT: Slung Payload weight ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Slung Payload weight in kg +---------+-----------+ | Range | Units | +=========+===========+ | 0 to 15 | kilograms | +---------+-----------+ .. _SIM_SLUP_LINELEN: SIM\_SLUP\_LINELEN: Slung Payload line length ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Slung Payload line length in meters +----------+--------+ | Range | Units | +==========+========+ | 0 to 100 | meters | +----------+--------+ .. _SIM_SLUP_DRAG: SIM\_SLUP\_DRAG: Slung Payload drag coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Slung Payload drag coefficient\. Higher values increase drag and slow the payload more quickly +---------+--------+ | Range | Units | +=========+========+ | 0 to 10 | meters | +---------+--------+ .. _SIM_SLUP_SYSID: SIM\_SLUP\_SYSID: Slung Payload MAVLink system ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Slung Payload MAVLink system id to distinguish it from others on the same network +-----------------+ | Range | +=================+ | 0 to 4294967295 | +-----------------+ .. _SIM_SPR_ENABLE: SIM\_SPR\_ENABLE: Sprayer Sim enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the Sprayer simulation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_SPR_PUMP: SIM\_SPR\_PUMP: Sprayer pump pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the Sprayer pump is connected to\. \(start at 1\) +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _SIM_SPR_SPIN: SIM\_SPR\_SPIN: Sprayer spinner servo pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The pin number that the Sprayer spinner servo is connected to\. \(start at 1\) +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _SIM_TA_ENABLE: SIM\_TA\_ENABLE: ToneAlarm enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the simulated tonealarm +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_TETH_ENABLE: SIM\_TETH\_ENABLE: Tether Simulation Enable\/Disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable or disable the tether simulation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_TETH_DENSITY: SIM\_TETH\_DENSITY: Tether Wire Density ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Linear mass density of the tether wire +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _SIM_TETH_LINELEN: SIM\_TETH\_LINELEN: Tether Maximum Line Length ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum length of the tether line in meters +----------+--------+ | Range | Units | +==========+========+ | 0 to 100 | meters | +----------+--------+ .. _SIM_TETH_SYSID: SIM\_TETH\_SYSID: Tether Simulation MAVLink System ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* MAVLink system ID for the tether simulation\, used to distinguish it from other systems on the network +-----------------+ | Range | +=================+ | 0 to 4294967295 | +-----------------+ .. _SIM_TETH_STUCK: SIM\_TETH\_STUCK: Tether Stuck Enable\/Disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable or disable a stuck tether simulation +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_TETH_SPGCNST: SIM\_TETH\_SPGCNST: Tether Spring Constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Spring constant for the tether to simulate elastic forces when stretched beyond its maximum length +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _SIM_TETH_DMPCNST: SIM\_TETH\_DMPCNST: Tether Damping Constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Damping constant for the tether to simulate resistance based on change in stretch +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _SIM_VICON_POS_X: SIM\_VICON\_POS\_X: SITL vicon position on vehicle in Forward direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon position on vehicle in Forward direction +---------+--------+ | Range | Units | +=========+========+ | 0 to 10 | meters | +---------+--------+ .. _SIM_VICON_POS_Y: SIM\_VICON\_POS\_Y: SITL vicon position on vehicle in Right direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon position on vehicle in Right direction +---------+--------+ | Range | Units | +=========+========+ | 0 to 10 | meters | +---------+--------+ .. _SIM_VICON_POS_Z: SIM\_VICON\_POS\_Z: SITL vicon position on vehicle in Down direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon position on vehicle in Down direction +---------+--------+ | Range | Units | +=========+========+ | 0 to 10 | meters | +---------+--------+ .. _SIM_VICON_GLIT_X: SIM\_VICON\_GLIT\_X: SITL vicon position glitch North ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon position glitch North +--------+ | Units | +========+ | meters | +--------+ .. _SIM_VICON_GLIT_Y: SIM\_VICON\_GLIT\_Y: SITL vicon position glitch East ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon position glitch East +--------+ | Units | +========+ | meters | +--------+ .. _SIM_VICON_GLIT_Z: SIM\_VICON\_GLIT\_Z: SITL vicon position glitch Down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon position glitch Down +--------+ | Units | +========+ | meters | +--------+ .. _SIM_VICON_FAIL: SIM\_VICON\_FAIL: SITL vicon failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon failure +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | Vicon Healthy | +-------+---------------+ | 1 | Vicon Failed | +-------+---------------+ .. _SIM_VICON_YAW: SIM\_VICON\_YAW: SITL vicon yaw angle in earth frame ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon yaw angle in earth frame +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _SIM_VICON_YAWERR: SIM\_VICON\_YAWERR: SITL vicon yaw error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon yaw added to reported yaw sent to vehicle +-------------+---------+ | Range | Units | +=============+=========+ | -180 to 180 | degrees | +-------------+---------+ .. _SIM_VICON_TMASK: SIM\_VICON\_TMASK: SITL vicon type mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon messages sent +-----+--------------------------+ | Bit | Meaning | +=====+==========================+ | 0 | VISION_POSITION_ESTIMATE | +-----+--------------------------+ | 1 | VISION_SPEED_ESTIMATE | +-----+--------------------------+ | 2 | VICON_POSITION_ESTIMATE | +-----+--------------------------+ | 3 | VISION_POSITION_DELTA | +-----+--------------------------+ | 4 | ODOMETRY | +-----+--------------------------+ .. _SIM_VICON_VGLI_X: SIM\_VICON\_VGLI\_X: SITL vicon velocity glitch North ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon velocity glitch North +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_VICON_VGLI_Y: SIM\_VICON\_VGLI\_Y: SITL vicon velocity glitch East ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon velocity glitch East +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_VICON_VGLI_Z: SIM\_VICON\_VGLI\_Z: SITL vicon velocity glitch Down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon velocity glitch Down +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_VICON_P_SD: SIM\_VICON\_P\_SD: SITL vicon position standard deviation for gaussian noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon position standard deviation for gaussian noise +--------+ | Units | +========+ | meters | +--------+ .. _SIM_VICON_V_SD: SIM\_VICON\_V\_SD: SITL vicon velocity standard deviation for gaussian noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon velocity standard deviation for gaussian noise +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_VICON_RATE: SIM\_VICON\_RATE: SITL vicon rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_VICON_QUAL: SIM\_VICON\_QUAL: SITL vicon odometry quality ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon odometry quality field sent in MAVLink ODOMETRY message \(\-1\=failure\, 0\=unknown\, 1\-100\=quality\) +-----------+---------+ | Range | Units | +===========+=========+ | -1 to 100 | percent | +-----------+---------+ .. _SIM_VOLZ_ENA: SIM\_VOLZ\_ENA: Volz simulator enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows you to enable \(1\) or disable \(0\) the Volz simulator +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SIM_VOLZ_MASK: SIM\_VOLZ\_MASK: Volz override mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* mask of servo output channels to override with values from Volz protocol\. Note these are indexed from 0 \- so channel 3 \(usually throttle\) has value 4 in this bitmask \(1\<\<2\)\. .. _SIM_VOLZ_FMASK: SIM\_VOLZ\_FMASK: Volz fail mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* fail servo at current position\. Channel 1 is bit 0\. .. _parameters_SPRAY_: SPRAY\_ Parameters ------------------ .. _SPRAY_ENABLE: SPRAY\_ENABLE: Sprayer enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Allows you to enable \(1\) or disable \(0\) the sprayer +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _SPRAY_PUMP_RATE: SPRAY\_PUMP\_RATE: Pump speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Desired pump speed when travelling 1m\/s expressed as a percentage +----------+---------+ | Range | Units | +==========+=========+ | 0 to 100 | percent | +----------+---------+ .. _SPRAY_SPINNER: SPRAY\_SPINNER: Spinner rotation speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Spinner\'s rotation speed in PWM \(a higher rate will disperse the spray over a wider area horizontally\) +--------------+--------------+ | Range | Units | +==============+==============+ | 1000 to 2000 | milliseconds | +--------------+--------------+ .. _SPRAY_SPEED_MIN: SPRAY\_SPEED\_MIN: Speed minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed minimum at which we will begin spraying +-----------+------------------------+ | Range | Units | +===========+========================+ | 0 to 1000 | centimeters per second | +-----------+------------------------+ .. _SPRAY_PUMP_MIN: SPRAY\_PUMP\_MIN: Pump speed minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum pump speed expressed as a percentage +----------+---------+ | Range | Units | +==========+=========+ | 0 to 100 | percent | +----------+---------+ .. _parameters_SRTL_: SRTL\_ Parameters ----------------- .. _SRTL_ACCURACY: SRTL\_ACCURACY: SmartRTL accuracy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SmartRTL accuracy\. The minimum distance between points\. +---------+--------+ | Range | Units | +=========+========+ | 0 to 10 | meters | +---------+--------+ .. _SRTL_POINTS: SRTL\_POINTS: SmartRTL maximum number of points on path ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* SmartRTL maximum number of points on path\. Set to 0 to disable SmartRTL\. 100 points consumes about 3k of memory\. +----------+ | Range | +==========+ | 0 to 500 | +----------+ .. _SRTL_OPTIONS: SRTL\_OPTIONS: SmartRTL options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask of SmartRTL options\. +-----+------------------+ | Bit | Meaning | +=====+==================+ | 2 | Ignore pilot yaw | +-----+------------------+ .. _parameters_STAT: STAT Parameters --------------- .. _STAT_BOOTCNT: STAT\_BOOTCNT: Boot Count ~~~~~~~~~~~~~~~~~~~~~~~~~ Number of times board has been booted +----------+ | ReadOnly | +==========+ | True | +----------+ .. _STAT_FLTTIME: STAT\_FLTTIME: Total FlightTime ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total FlightTime \(seconds\) +----------+---------+ | ReadOnly | Units | +==========+=========+ | True | seconds | +----------+---------+ .. _STAT_RUNTIME: STAT\_RUNTIME: Total RunTime ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total time autopilot has run +----------+---------+ | ReadOnly | Units | +==========+=========+ | True | seconds | +----------+---------+ .. _STAT_RESET: STAT\_RESET: Statistics Reset Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Seconds since January 1st 2016 \(Unix epoch\+1451606400\) since statistics reset \(set to 0 to reset statistics\, other set values will be ignored\) +----------+---------+ | ReadOnly | Units | +==========+=========+ | True | seconds | +----------+---------+ .. _STAT_FLTCNT: STAT\_FLTCNT: Total Flight Count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total number of flights +----------+ | ReadOnly | +==========+ | True | +----------+ .. _STAT_DISTFLWN: STAT\_DISTFLWN: Total Distance Flown ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Estimate of total distance flown since statistics reset +----------+--------+ | ReadOnly | Units | +==========+========+ | True | meters | +----------+--------+ .. _parameters_TEMP: TEMP Parameters --------------- .. _TEMP_LOG: TEMP\_LOG: Logging ~~~~~~~~~~~~~~~~~~ Enables temperature sensor logging +-------+---------------------------------------------------+ | Value | Meaning | +=======+===================================================+ | 0 | Disabled | +-------+---------------------------------------------------+ | 1 | Log all instances | +-------+---------------------------------------------------+ | 2 | Log only instances with sensor source set to None | +-------+---------------------------------------------------+ .. _parameters_TEMP1_: TEMP1\_ Parameters ------------------ .. _TEMP1_TYPE: TEMP1\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP1_BUS: TEMP1\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP1_ADDR: TEMP1\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP1_SRC: TEMP1\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP1_SRC_ID: TEMP1\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP1_PIN: TEMP1\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP1_A0: TEMP1\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP1_A1: TEMP1\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP1_A2: TEMP1\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP1_A3: TEMP1\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP1_A4: TEMP1\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP1_A5: TEMP1\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP1_MSG_ID: TEMP1\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP1_RTD_NOM: TEMP1\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP1_RTD_REF: TEMP1\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP2_: TEMP2\_ Parameters ------------------ .. _TEMP2_TYPE: TEMP2\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP2_BUS: TEMP2\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP2_ADDR: TEMP2\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP2_SRC: TEMP2\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP2_SRC_ID: TEMP2\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP2_PIN: TEMP2\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP2_A0: TEMP2\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP2_A1: TEMP2\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP2_A2: TEMP2\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP2_A3: TEMP2\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP2_A4: TEMP2\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP2_A5: TEMP2\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP2_MSG_ID: TEMP2\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP2_RTD_NOM: TEMP2\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP2_RTD_REF: TEMP2\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP3_: TEMP3\_ Parameters ------------------ .. _TEMP3_TYPE: TEMP3\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP3_BUS: TEMP3\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP3_ADDR: TEMP3\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP3_SRC: TEMP3\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP3_SRC_ID: TEMP3\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP3_PIN: TEMP3\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP3_A0: TEMP3\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP3_A1: TEMP3\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP3_A2: TEMP3\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP3_A3: TEMP3\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP3_A4: TEMP3\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP3_A5: TEMP3\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP3_MSG_ID: TEMP3\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP3_RTD_NOM: TEMP3\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP3_RTD_REF: TEMP3\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP4_: TEMP4\_ Parameters ------------------ .. _TEMP4_TYPE: TEMP4\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP4_BUS: TEMP4\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP4_ADDR: TEMP4\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP4_SRC: TEMP4\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP4_SRC_ID: TEMP4\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP4_PIN: TEMP4\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP4_A0: TEMP4\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP4_A1: TEMP4\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP4_A2: TEMP4\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP4_A3: TEMP4\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP4_A4: TEMP4\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP4_A5: TEMP4\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP4_MSG_ID: TEMP4\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP4_RTD_NOM: TEMP4\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP4_RTD_REF: TEMP4\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP5_: TEMP5\_ Parameters ------------------ .. _TEMP5_TYPE: TEMP5\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP5_BUS: TEMP5\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP5_ADDR: TEMP5\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP5_SRC: TEMP5\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP5_SRC_ID: TEMP5\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP5_PIN: TEMP5\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP5_A0: TEMP5\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP5_A1: TEMP5\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP5_A2: TEMP5\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP5_A3: TEMP5\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP5_A4: TEMP5\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP5_A5: TEMP5\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP5_MSG_ID: TEMP5\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP5_RTD_NOM: TEMP5\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP5_RTD_REF: TEMP5\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP6_: TEMP6\_ Parameters ------------------ .. _TEMP6_TYPE: TEMP6\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP6_BUS: TEMP6\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP6_ADDR: TEMP6\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP6_SRC: TEMP6\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP6_SRC_ID: TEMP6\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP6_PIN: TEMP6\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP6_A0: TEMP6\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP6_A1: TEMP6\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP6_A2: TEMP6\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP6_A3: TEMP6\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP6_A4: TEMP6\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP6_A5: TEMP6\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP6_MSG_ID: TEMP6\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP6_RTD_NOM: TEMP6\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP6_RTD_REF: TEMP6\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP7_: TEMP7\_ Parameters ------------------ .. _TEMP7_TYPE: TEMP7\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP7_BUS: TEMP7\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP7_ADDR: TEMP7\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP7_SRC: TEMP7\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP7_SRC_ID: TEMP7\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP7_PIN: TEMP7\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP7_A0: TEMP7\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP7_A1: TEMP7\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP7_A2: TEMP7\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP7_A3: TEMP7\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP7_A4: TEMP7\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP7_A5: TEMP7\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP7_MSG_ID: TEMP7\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP7_RTD_NOM: TEMP7\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP7_RTD_REF: TEMP7\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP8_: TEMP8\_ Parameters ------------------ .. _TEMP8_TYPE: TEMP8\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP8_BUS: TEMP8\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP8_ADDR: TEMP8\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP8_SRC: TEMP8\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP8_SRC_ID: TEMP8\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP8_PIN: TEMP8\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP8_A0: TEMP8\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP8_A1: TEMP8\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP8_A2: TEMP8\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP8_A3: TEMP8\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP8_A4: TEMP8\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP8_A5: TEMP8\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP8_MSG_ID: TEMP8\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP8_RTD_NOM: TEMP8\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP8_RTD_REF: TEMP8\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP9_: TEMP9\_ Parameters ------------------ .. _TEMP9_TYPE: TEMP9\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP9_BUS: TEMP9\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP9_ADDR: TEMP9\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP9_SRC: TEMP9\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP9_SRC_ID: TEMP9\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP9_PIN: TEMP9\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP9_A0: TEMP9\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP9_A1: TEMP9\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP9_A2: TEMP9\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP9_A3: TEMP9\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP9_A4: TEMP9\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP9_A5: TEMP9\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP9_MSG_ID: TEMP9\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP9_RTD_NOM: TEMP9\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP9_RTD_REF: TEMP9\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP10_: TEMP10\_ Parameters ------------------- .. _TEMP10_TYPE: TEMP10\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP10_BUS: TEMP10\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP10_ADDR: TEMP10\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP10_SRC: TEMP10\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP10_SRC_ID: TEMP10\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP10_PIN: TEMP10\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP10_A0: TEMP10\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP10_A1: TEMP10\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP10_A2: TEMP10\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP10_A3: TEMP10\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP10_A4: TEMP10\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP10_A5: TEMP10\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP10_MSG_ID: TEMP10\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP10_RTD_NOM: TEMP10\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP10_RTD_REF: TEMP10\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP11_: TEMP11\_ Parameters ------------------- .. _TEMP11_TYPE: TEMP11\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP11_BUS: TEMP11\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP11_ADDR: TEMP11\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP11_SRC: TEMP11\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP11_SRC_ID: TEMP11\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP11_PIN: TEMP11\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP11_A0: TEMP11\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP11_A1: TEMP11\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP11_A2: TEMP11\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP11_A3: TEMP11\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP11_A4: TEMP11\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP11_A5: TEMP11\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP11_MSG_ID: TEMP11\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP11_RTD_NOM: TEMP11\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP11_RTD_REF: TEMP11\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP12_: TEMP12\_ Parameters ------------------- .. _TEMP12_TYPE: TEMP12\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP12_BUS: TEMP12\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP12_ADDR: TEMP12\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP12_SRC: TEMP12\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP12_SRC_ID: TEMP12\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP12_PIN: TEMP12\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP12_A0: TEMP12\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP12_A1: TEMP12\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP12_A2: TEMP12\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP12_A3: TEMP12\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP12_A4: TEMP12\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP12_A5: TEMP12\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP12_MSG_ID: TEMP12\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP12_RTD_NOM: TEMP12\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP12_RTD_REF: TEMP12\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP13_: TEMP13\_ Parameters ------------------- .. _TEMP13_TYPE: TEMP13\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP13_BUS: TEMP13\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP13_ADDR: TEMP13\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP13_SRC: TEMP13\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP13_SRC_ID: TEMP13\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP13_PIN: TEMP13\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP13_A0: TEMP13\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP13_A1: TEMP13\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP13_A2: TEMP13\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP13_A3: TEMP13\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP13_A4: TEMP13\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP13_A5: TEMP13\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP13_MSG_ID: TEMP13\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP13_RTD_NOM: TEMP13\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP13_RTD_REF: TEMP13\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP14_: TEMP14\_ Parameters ------------------- .. _TEMP14_TYPE: TEMP14\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP14_BUS: TEMP14\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP14_ADDR: TEMP14\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP14_SRC: TEMP14\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP14_SRC_ID: TEMP14\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP14_PIN: TEMP14\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP14_A0: TEMP14\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP14_A1: TEMP14\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP14_A2: TEMP14\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP14_A3: TEMP14\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP14_A4: TEMP14\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP14_A5: TEMP14\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP14_MSG_ID: TEMP14\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP14_RTD_NOM: TEMP14\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP14_RTD_REF: TEMP14\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TEMP15_: TEMP15\_ Parameters ------------------- .. _TEMP15_TYPE: TEMP15\_TYPE: Temperature Sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enables temperature sensors +-------+----------------------+ | Value | Meaning | +=======+======================+ | 0 | Disabled | +-------+----------------------+ | 1 | TSYS01 | +-------+----------------------+ | 2 | MCP9600 | +-------+----------------------+ | 3 | MAX31865 2 or 4 wire | +-------+----------------------+ | 4 | TSYS03 | +-------+----------------------+ | 5 | Analog | +-------+----------------------+ | 6 | DroneCAN | +-------+----------------------+ | 7 | MLX90614 | +-------+----------------------+ | 8 | SHT3x | +-------+----------------------+ | 9 | MAX31865 3 wire | +-------+----------------------+ | 10 | TMP119 | +-------+----------------------+ .. _TEMP15_BUS: TEMP15\_BUS: Temperature sensor bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor bus number\, typically used to select from multiple I2C buses +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _TEMP15_ADDR: TEMP15\_ADDR: Temperature sensor address ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Temperature sensor address\, typically used for I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _TEMP15_SRC: TEMP15\_SRC: Sensor Source ~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 0 | None | +-------+---------------------------+ | 1 | ESC | +-------+---------------------------+ | 2 | Motor | +-------+---------------------------+ | 3 | Battery Index | +-------+---------------------------+ | 4 | Battery ID/SerialNumber | +-------+---------------------------+ | 5 | CAN based Pitot tube | +-------+---------------------------+ | 6 | DroneCAN-out on AP_Periph | +-------+---------------------------+ | 7 | Servo motor | +-------+---------------------------+ | 8 | Servo PCB | +-------+---------------------------+ | 9 | Rangefinder | +-------+---------------------------+ .. _TEMP15_SRC_ID: TEMP15\_SRC\_ID: Sensor Source Identification ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. .. _TEMP15_PIN: TEMP15\_PIN: Temperature sensor analog voltage sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. +-------+--------------------------------------+ | Value | Meaning | +=======+======================================+ | -1 | Disabled | +-------+--------------------------------------+ | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | +-------+--------------------------------------+ | 5 | Navigator | +-------+--------------------------------------+ | 13 | Pixhawk2_PM2/CubeOrange_PM2 | +-------+--------------------------------------+ | 14 | CubeOrange | +-------+--------------------------------------+ | 16 | Durandal | +-------+--------------------------------------+ | 100 | PX4-v1 | +-------+--------------------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TEMP15_A0: TEMP15\_A0: Temperature sensor analog 0th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP15_A1: TEMP15\_A1: Temperature sensor analog 1st polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP15_A2: TEMP15\_A2: Temperature sensor analog 2nd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP15_A3: TEMP15\_A3: Temperature sensor analog 3rd polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP15_A4: TEMP15\_A4: Temperature sensor analog 4th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP15_A5: TEMP15\_A5: Temperature sensor analog 5th polynomial coefficient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 .. _TEMP15_MSG_ID: TEMP15\_MSG\_ID: Temperature sensor DroneCAN message ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the message device ID this backend listens for +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _TEMP15_RTD_NOM: TEMP15\_RTD\_NOM: Nominal RTD resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominal RTD resistance used to calculate temperature\, typically 100 or 1000 ohms\. .. _TEMP15_RTD_REF: TEMP15\_RTD\_REF: RTD reference resistance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reference resistance used to calculate temperature\, in ohms .. _parameters_TRQ1_: TRQ1\_ Parameters ----------------- .. _TRQ1_TYPE: TRQ1\_TYPE: Torqeedo connection type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Torqeedo connection type +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Tiller | +-------+----------+ | 2 | Motor | +-------+----------+ .. _TRQ1_ONOFF_PIN: TRQ1\_ONOFF\_PIN: Torqeedo ON\/Off pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Pin number connected to Torqeedo\'s on\/off pin\. \-1 to use serial port\'s RTS pin if available +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TRQ1_DE_PIN: TRQ1\_DE\_PIN: Torqeedo DE pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Pin number connected to RS485 to Serial converter\'s DE pin\. \-1 to use serial port\'s CTS pin if available +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TRQ1_OPTIONS: TRQ1\_OPTIONS: Torqeedo Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo Options Bitmask +-----+-------------------+ | Bit | Meaning | +=====+===================+ | 0 | Log | +-----+-------------------+ | 1 | Send debug to GCS | +-----+-------------------+ .. _TRQ1_POWER: TRQ1\_POWER: Torqeedo Motor Power ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo motor power\. Only applied when using motor connection type \(e\.g\. TRQD\_TYPE\=2\) +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _TRQ1_SLEW_TIME: TRQ1\_SLEW\_TIME: Torqeedo Throttle Slew Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100\%\. Higher values cause a slower response\, lower values cause a faster response\. A value of zero disables the limit +-----------+--------+---------+ | Increment | Range | Units | +===========+========+=========+ | 0.1 | 0 to 5 | seconds | +-----------+--------+---------+ .. _TRQ1_DIR_DELAY: TRQ1\_DIR\_DELAY: Torqeedo Direction Change Delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo direction change delay\. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation +-----------+--------+---------+ | Increment | Range | Units | +===========+========+=========+ | 0.1 | 0 to 5 | seconds | +-----------+--------+---------+ .. _TRQ1_SERVO_FN: TRQ1\_SERVO\_FN: Torqeedo Servo Output Function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo Servo Output Function +-------+---------------+ | Value | Meaning | +=======+===============+ | 70 | Throttle | +-------+---------------+ | 73 | ThrottleLeft | +-------+---------------+ | 74 | ThrottleRight | +-------+---------------+ +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _parameters_TRQ2_: TRQ2\_ Parameters ----------------- .. _TRQ2_TYPE: TRQ2\_TYPE: Torqeedo connection type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Torqeedo connection type +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Tiller | +-------+----------+ | 2 | Motor | +-------+----------+ .. _TRQ2_ONOFF_PIN: TRQ2\_ONOFF\_PIN: Torqeedo ON\/Off pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Pin number connected to Torqeedo\'s on\/off pin\. \-1 to use serial port\'s RTS pin if available +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TRQ2_DE_PIN: TRQ2\_DE\_PIN: Torqeedo DE pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Pin number connected to RS485 to Serial converter\'s DE pin\. \-1 to use serial port\'s CTS pin if available +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _TRQ2_OPTIONS: TRQ2\_OPTIONS: Torqeedo Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo Options Bitmask +-----+-------------------+ | Bit | Meaning | +=====+===================+ | 0 | Log | +-----+-------------------+ | 1 | Send debug to GCS | +-----+-------------------+ .. _TRQ2_POWER: TRQ2\_POWER: Torqeedo Motor Power ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo motor power\. Only applied when using motor connection type \(e\.g\. TRQD\_TYPE\=2\) +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _TRQ2_SLEW_TIME: TRQ2\_SLEW\_TIME: Torqeedo Throttle Slew Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100\%\. Higher values cause a slower response\, lower values cause a faster response\. A value of zero disables the limit +-----------+--------+---------+ | Increment | Range | Units | +===========+========+=========+ | 0.1 | 0 to 5 | seconds | +-----------+--------+---------+ .. _TRQ2_DIR_DELAY: TRQ2\_DIR\_DELAY: Torqeedo Direction Change Delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo direction change delay\. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation +-----------+--------+---------+ | Increment | Range | Units | +===========+========+=========+ | 0.1 | 0 to 5 | seconds | +-----------+--------+---------+ .. _TRQ2_SERVO_FN: TRQ2\_SERVO\_FN: Torqeedo Servo Output Function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Torqeedo Servo Output Function +-------+---------------+ | Value | Meaning | +=======+===============+ | 70 | Throttle | +-------+---------------+ | 73 | ThrottleLeft | +-------+---------------+ | 74 | ThrottleRight | +-------+---------------+ +-----------+ | Increment | +===========+ | 0.1 | +-----------+ .. _parameters_VISO: VISO Parameters --------------- .. _VISO_TYPE: VISO\_TYPE: Visual odometry camera connection type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Visual odometry camera connection type +-------+---------------+ | Value | Meaning | +=======+===============+ | 0 | None | +-------+---------------+ | 1 | MAVLink | +-------+---------------+ | 2 | IntelT265 | +-------+---------------+ | 3 | VOXL(ModalAI) | +-------+---------------+ .. _VISO_POS_X: VISO\_POS\_X: Visual odometry camera X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the camera in body frame\. Positive X is forward of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _VISO_POS_Y: VISO\_POS\_Y: Visual odometry camera Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the camera in body frame\. Positive Y is to the right of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _VISO_POS_Z: VISO\_POS\_Z: Visual odometry camera Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the camera in body frame\. Positive Z is down from the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _VISO_ORIENT: VISO\_ORIENT: Visual odometery camera orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometery camera orientation +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Forward | +-------+---------+ | 2 | Right | +-------+---------+ | 4 | Back | +-------+---------+ | 6 | Left | +-------+---------+ | 24 | Up | +-------+---------+ | 25 | Down | +-------+---------+ .. _VISO_SCALE: VISO\_SCALE: Visual odometry scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry scaling factor applied to position estimates from sensor .. _VISO_DELAY_MS: VISO\_DELAY\_MS: Visual odometry sensor delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry sensor delay relative to inertial measurements +----------+--------------+ | Range | Units | +==========+==============+ | 0 to 250 | milliseconds | +----------+--------------+ .. _VISO_VEL_M_NSE: VISO\_VEL\_M\_NSE: Visual odometry velocity measurement noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry velocity measurement noise in m\/s +-------------+-------------------+ | Range | Units | +=============+===================+ | 0.05 to 5.0 | meters per second | +-------------+-------------------+ .. _VISO_POS_M_NSE: VISO\_POS\_M\_NSE: Visual odometry position measurement noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry position measurement noise minimum \(meters\)\. This value will be used if the sensor provides a lower noise value \(or no noise value\) +-------------+--------+ | Range | Units | +=============+========+ | 0.1 to 10.0 | meters | +-------------+--------+ .. _VISO_YAW_M_NSE: VISO\_YAW\_M\_NSE: Visual odometry yaw measurement noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry yaw measurement noise minimum \(radians\)\, This value will be used if the sensor provides a lower noise value \(or no noise value\) +-------------+---------+ | Range | Units | +=============+=========+ | 0.05 to 1.0 | radians | +-------------+---------+ .. _VISO_QUAL_MIN: VISO\_QUAL\_MIN: Visual odometry minimum quality ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry will only be sent to EKF if over this value\. \-1 to always send \(even bad values\)\, 0 to send if good or unknown +-----------+---------+ | Range | Units | +===========+=========+ | -1 to 100 | percent | +-----------+---------+ .. _parameters_VTX_: VTX\_ Parameters ---------------- .. _VTX_ENABLE: VTX\_ENABLE: Is the Video Transmitter enabled or not ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Toggles the Video Transmitter on and off +-------+---------+ | Value | Meaning | +=======+=========+ | 0 | Disable | +-------+---------+ | 1 | Enable | +-------+---------+ .. _VTX_POWER: VTX\_POWER: Video Transmitter Power Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Power Level\. Different VTXs support different power levels\, the power level chosen will be rounded down to the nearest supported power level +-----------+ | Range | +===========+ | 1 to 1000 | +-----------+ .. _VTX_CHANNEL: VTX\_CHANNEL: Video Transmitter Channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Channel +--------+ | Range | +========+ | 0 to 7 | +--------+ .. _VTX_BAND: VTX\_BAND: Video Transmitter Band ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Band +-------+--------------+ | Value | Meaning | +=======+==============+ | 0 | Band A | +-------+--------------+ | 1 | Band B | +-------+--------------+ | 2 | Band E | +-------+--------------+ | 3 | Airwave | +-------+--------------+ | 4 | RaceBand | +-------+--------------+ | 5 | Low RaceBand | +-------+--------------+ | 6 | 1G3 Band A | +-------+--------------+ | 7 | 1G3 Band B | +-------+--------------+ | 8 | Band X | +-------+--------------+ | 9 | 3G3 Band A | +-------+--------------+ | 10 | 3G3 Band B | +-------+--------------+ .. _VTX_FREQ: VTX\_FREQ: Video Transmitter Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Frequency\. The frequency is derived from the setting of BAND and CHANNEL +--------------+----------+ | Range | ReadOnly | +==============+==========+ | 1000 to 6000 | True | +--------------+----------+ .. _VTX_OPTIONS: VTX\_OPTIONS: Video Transmitter Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Video Transmitter Options\. Pitmode puts the VTX in a low power state\. Unlocked enables certain restricted frequencies and power levels\. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels\. One stop\-bit may be required for VTXs that erroneously mimic iNav behaviour\. +-----+-----------------------------------------------------------+ | Bit | Meaning | +=====+===========================================================+ | 0 | Pitmode | +-----+-----------------------------------------------------------+ | 1 | Pitmode until armed | +-----+-----------------------------------------------------------+ | 2 | Pitmode when disarmed | +-----+-----------------------------------------------------------+ | 3 | Unlocked | +-----+-----------------------------------------------------------+ | 4 | Add leading zero byte to requests | +-----+-----------------------------------------------------------+ | 5 | Use 1 stop-bit in SmartAudio | +-----+-----------------------------------------------------------+ | 6 | Ignore CRC in SmartAudio | +-----+-----------------------------------------------------------+ | 7 | Ignore status updates in CRSF and blindly set VTX options | +-----+-----------------------------------------------------------+ .. _VTX_MAX_POWER: VTX\_MAX\_POWER: Video Transmitter Max Power Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Maximum Power Level\. Different VTXs support different power levels\, this prevents the power aux switch from requesting too high a power level\. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting\. +------------+ | Range | +============+ | 25 to 1000 | +------------+ .. _VTX_TYPES: VTX\_TYPES: Allowed VTX control transports ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of the control transports permitted to manage the VTX\. AP\_VideoTX represents a single VTX\, so when more than one transport is present \(for example a CRSF VTX on the receiver and an MSP VTX on the goggles\) this selects which one owns it\. Clear a transport\'s bit to stop it taking control of the VTX\. +-----+------------+ | Bit | Meaning | +=====+============+ | 0 | CRSF | +-----+------------+ | 1 | SmartAudio | +-----+------------+ | 2 | Tramp | +-----+------------+ | 3 | MSP | +-----+------------+ .. _parameters_WENC: WENC Parameters --------------- .. _WENC_TYPE: WENC\_TYPE: WheelEncoder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of WheelEncoder is connected +-------+-----------------+ | Value | Meaning | +=======+=================+ | 0 | None | +-------+-----------------+ | 1 | Quadrature | +-------+-----------------+ | 10 | SITL Quadrature | +-------+-----------------+ .. _WENC_CPR: WENC\_CPR: WheelEncoder counts per revolution ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ WheelEncoder counts per full revolution of the wheel +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _WENC_RADIUS: WENC\_RADIUS: Wheel radius ~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel radius +-----------+--------+ | Increment | Units | +===========+========+ | 0.001 | meters | +-----------+--------+ .. _WENC_POS_X: WENC\_POS\_X: Wheel\'s X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ X position of the center of the wheel in body frame\. Positive X is forward of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _WENC_POS_Y: WENC\_POS\_Y: Wheel\'s Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Y position of the center of the wheel in body frame\. Positive Y is to the right of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _WENC_POS_Z: WENC\_POS\_Z: Wheel\'s Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Z position of the center of the wheel in body frame\. Positive Z is down from the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _WENC_PINA: WENC\_PINA: Input Pin A ~~~~~~~~~~~~~~~~~~~~~~~ Input Pin A +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _WENC_PINB: WENC\_PINB: Input Pin B ~~~~~~~~~~~~~~~~~~~~~~~ Input Pin B +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _WENC2_TYPE: WENC2\_TYPE: Second WheelEncoder type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of WheelEncoder sensor is connected +-------+-----------------+ | Value | Meaning | +=======+=================+ | 0 | None | +-------+-----------------+ | 1 | Quadrature | +-------+-----------------+ | 10 | SITL Quadrature | +-------+-----------------+ .. _WENC2_CPR: WENC2\_CPR: WheelEncoder 2 counts per revolution ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ WheelEncoder 2 counts per full revolution of the wheel +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _WENC2_RADIUS: WENC2\_RADIUS: Wheel2\'s radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel2\'s radius +-----------+--------+ | Increment | Units | +===========+========+ | 0.001 | meters | +-----------+--------+ .. _WENC2_POS_X: WENC2\_POS\_X: Wheel2\'s X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ X position of the center of the second wheel in body frame\. Positive X is forward of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _WENC2_POS_Y: WENC2\_POS\_Y: Wheel2\'s Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Y position of the center of the second wheel in body frame\. Positive Y is to the right of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _WENC2_POS_Z: WENC2\_POS\_Z: Wheel2\'s Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Z position of the center of the second wheel in body frame\. Positive Z is down from the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _WENC2_PINA: WENC2\_PINA: Second Encoder Input Pin A ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Second Encoder Input Pin A +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _WENC2_PINB: WENC2\_PINB: Second Encoder Input Pin B ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Second Encoder Input Pin B +-------+----------+ | Value | Meaning | +=======+==========+ | -1 | Disabled | +-------+----------+ | 50 | AUX1 | +-------+----------+ | 51 | AUX2 | +-------+----------+ | 52 | AUX3 | +-------+----------+ | 53 | AUX4 | +-------+----------+ | 54 | AUX5 | +-------+----------+ | 55 | AUX6 | +-------+----------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _parameters_WNDVN_: WNDVN\_ Parameters ------------------ .. _WNDVN_TYPE: WNDVN\_TYPE: Wind Vane Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Wind Vane type +-------+------------------------------------+ | Value | Meaning | +=======+====================================+ | 0 | None | +-------+------------------------------------+ | 1 | Heading when armed | +-------+------------------------------------+ | 2 | RC input offset heading when armed | +-------+------------------------------------+ | 3 | Analog | +-------+------------------------------------+ | 4 | NMEA | +-------+------------------------------------+ | 10 | SITL true | +-------+------------------------------------+ | 11 | SITL apparent | +-------+------------------------------------+ .. _WNDVN_DIR_PIN: WNDVN\_DIR\_PIN: Wind vane analog voltage pin for direction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog input pin to read as wind vane direction +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _WNDVN_DIR_V_MIN: WNDVN\_DIR\_V\_MIN: Wind vane voltage minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum voltage supplied by analog wind vane\. When using pin 103\, the maximum value of the parameter is 3\.3V\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 0.01 | 0 to 5.0 | volt | +-----------+----------+-------+ .. _WNDVN_DIR_V_MAX: WNDVN\_DIR\_V\_MAX: Wind vane voltage maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum voltage supplied by analog wind vane\. When using pin 103\, the maximum value of the parameter is 3\.3V\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 0.01 | 0 to 5.0 | volt | +-----------+----------+-------+ .. _WNDVN_DIR_OFS: WNDVN\_DIR\_OFS: Wind vane headwind offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Angle offset when analog windvane is indicating a headwind\, ie 0 degress relative to vehicle +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 360 | degrees | +-----------+----------+---------+ .. _WNDVN_DIR_FILT: WNDVN\_DIR\_FILT: apparent Wind vane direction low pass filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ apparent Wind vane direction low pass filter frequency\, a value of \-1 disables filter +-------+ | Units | +=======+ | hertz | +-------+ .. _WNDVN_CAL: WNDVN\_CAL: Wind vane calibration start ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Start wind vane calibration by setting this to 1 or 2 +-------+---------------------+ | Value | Meaning | +=======+=====================+ | 0 | None | +-------+---------------------+ | 1 | Calibrate direction | +-------+---------------------+ | 2 | Calibrate speed | +-------+---------------------+ .. _WNDVN_DIR_DZ: WNDVN\_DIR\_DZ: Wind vane deadzone when using analog sensor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wind vane deadzone when using analog sensor +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 360 | degrees | +-----------+----------+---------+ .. _WNDVN_SPEED_MIN: WNDVN\_SPEED\_MIN: Wind vane cut off wind speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wind vane direction will be ignored when apparent wind speeds are below this value \(if wind speed sensor is present\)\. If the apparent wind is consistently below this value the vane will not work +-----------+--------+-------------------+ | Increment | Range | Units | +===========+========+===================+ | 0.1 | 0 to 5 | meters per second | +-----------+--------+-------------------+ .. _WNDVN_SPEED_TYPE: WNDVN\_SPEED\_TYPE: Wind speed sensor Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Wind speed sensor type +-------+----------------------------+ | Value | Meaning | +=======+============================+ | 0 | None | +-------+----------------------------+ | 1 | Airspeed library | +-------+----------------------------+ | 2 | Modern Devices Wind Sensor | +-------+----------------------------+ | 3 | RPM library | +-------+----------------------------+ | 4 | NMEA | +-------+----------------------------+ | 10 | SITL true | +-------+----------------------------+ | 11 | SITL apparent | +-------+----------------------------+ .. _WNDVN_SPEED_PIN: WNDVN\_SPEED\_PIN: Wind vane speed sensor analog pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wind speed analog speed input pin for Modern Devices Wind Sensor rev\. p +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _WNDVN_TEMP_PIN: WNDVN\_TEMP\_PIN: Wind vane speed sensor analog temp pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev\. p\, set to \-1 to diasble temp readings +-------+---------------------------+ | Value | Meaning | +=======+===========================+ | 11 | Pixracer | +-------+---------------------------+ | 13 | Pixhawk ADC4 | +-------+---------------------------+ | 14 | Pixhawk ADC3 | +-------+---------------------------+ | 15 | Pixhawk ADC6/Pixhawk2 ADC | +-------+---------------------------+ | 50 | AUX1 | +-------+---------------------------+ | 51 | AUX2 | +-------+---------------------------+ | 52 | AUX3 | +-------+---------------------------+ | 53 | AUX4 | +-------+---------------------------+ | 54 | AUX5 | +-------+---------------------------+ | 55 | AUX6 | +-------+---------------------------+ | 103 | Pixhawk SBUS | +-------+---------------------------+ +-----------+ | Range | +===========+ | -1 to 127 | +-----------+ .. _WNDVN_SPEED_OFS: WNDVN\_SPEED\_OFS: Wind speed sensor analog voltage offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wind sensor analog voltage offset at zero wind speed +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 0.01 | 0 to 3.3 | volt | +-----------+----------+-------+ .. _WNDVN_SPEED_FILT: WNDVN\_SPEED\_FILT: apparent wind speed low pass filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ apparent Wind speed low pass filter frequency\, a value of \-1 disables filter +-------+ | Units | +=======+ | hertz | +-------+ .. _WNDVN_TRUE_FILT: WNDVN\_TRUE\_FILT: True speed and direction low pass filter frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ True speed and direction low pass filter frequency\, a value of \-1 disables filter +-------+ | Units | +=======+ | hertz | +-------+ .. _parameters_WP_: WP\_ Parameters --------------- .. _WP_SPEED: WP\_SPEED: Waypoint speed default ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Waypoint speed default +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 0.1 | 0 to 100 | meters per second | +-----------+----------+-------------------+ .. _WP_RADIUS: WP\_RADIUS: Waypoint radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~ The distance in meters from a waypoint when we consider the waypoint has been reached\. This determines when the vehicle will turn toward the next waypoint\. +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 0.1 | 0 to 100 | meters | +-----------+----------+--------+ .. _WP_ACCEL: WP\_ACCEL: Waypoint acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Waypoint acceleration\. If zero then ATC\_ACCEL\_MAX is used +-----------+----------+--------------------------+ | Increment | Range | Units | +===========+==========+==========================+ | 0.1 | 0 to 100 | meters per square second | +-----------+----------+--------------------------+ .. _WP_JERK: WP\_JERK: Waypoint jerk ~~~~~~~~~~~~~~~~~~~~~~~ Waypoint jerk \(change in acceleration\)\. If zero then jerk is same as acceleration +-----------+----------+-------------------------+ | Increment | Range | Units | +===========+==========+=========================+ | 0.1 | 0 to 100 | meters per cubic second | +-----------+----------+-------------------------+ .. _parameters_WP_PIVOT_: WP\_PIVOT\_ Parameters ---------------------- .. _WP_PIVOT_ANGLE: WP\_PIVOT\_ANGLE: Pivot Angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pivot when the difference between the vehicle\'s heading and its target heading is more than this many degrees\. Set to zero to disable pivot turns\. This parameter should be greater than 5 degrees for pivot turns to work\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 360 | degrees | +-----------+----------+---------+ .. _WP_PIVOT_RATE: WP\_PIVOT\_RATE: Pivot Turn Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Turn rate during pivot turns +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 360 | degrees per second | +-----------+----------+--------------------+ .. _WP_PIVOT_DELAY: WP\_PIVOT\_DELAY: Pivot Delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle waits this many seconds after completing a pivot turn before proceeding +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.1 | 0 to 60 | seconds | +-----------+---------+---------+ .. _parameters_WRC: WRC Parameters -------------- .. _WRC_ENABLE: WRC\_ENABLE: Wheel rate control enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable or disable wheel rate control +-------+----------+ | Value | Meaning | +=======+==========+ | 0 | Disabled | +-------+----------+ | 1 | Enabled | +-------+----------+ .. _WRC_RATE_MAX: WRC\_RATE\_MAX: Wheel max rotation rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel max rotation rate +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 200 | radians per second | +----------+--------------------+ .. _WRC_RATE_FF: WRC\_RATE\_FF: Wheel rate control feed forward gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control feed forward gain\. Desired rate \(in radians\/sec\) is multiplied by this constant and output to output \(in the range \-1 to \+1\) +----------------+ | Range | +================+ | 0.100 to 2.000 | +----------------+ .. _WRC_RATE_P: WRC\_RATE\_P: Wheel rate control P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control P gain\. Converts rate error \(in radians\/sec\) to output \(in the range \-1 to \+1\) +----------------+ | Range | +================+ | 0.100 to 2.000 | +----------------+ .. _WRC_RATE_I: WRC\_RATE\_I: Wheel rate control I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control I gain\. Corrects long term error between the desired rate \(in rad\/s\) and actual +----------------+ | Range | +================+ | 0.000 to 2.000 | +----------------+ .. _WRC_RATE_IMAX: WRC\_RATE\_IMAX: Wheel rate control I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control I gain maximum\. Constrains the output \(range \-1 to \+1\) that the I term will generate +----------------+ | Range | +================+ | 0.000 to 1.000 | +----------------+ .. _WRC_RATE_D: WRC\_RATE\_D: Wheel rate control D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control D gain\. Compensates for short\-term change in desired rate vs actual +----------------+ | Range | +================+ | 0.000 to 0.400 | +----------------+ .. _WRC_RATE_FLTT: WRC\_RATE\_FLTT: Wheel rate control target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control target frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 1 to 50 | hertz | +-----------+---------+-------+ .. _WRC_RATE_FLTE: WRC\_RATE\_FLTE: Wheel rate control error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control error frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 1 to 50 | hertz | +-----------+---------+-------+ .. _WRC_RATE_FLTD: WRC\_RATE\_FLTD: Wheel rate control derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control derivative frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 1 to 50 | hertz | +-----------+---------+-------+ .. _WRC_RATE_SMAX: WRC\_RATE\_SMAX: Wheel rate slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _WRC_RATE_PDMX: WRC\_RATE\_PDMX: Wheel rate control PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +----------------+ | Range | +================+ | 0.000 to 1.000 | +----------------+ .. _WRC_RATE_D_FF: WRC\_RATE\_D\_FF: Wheel rate Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the error +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.400 | +-----------+----------------+ .. _WRC_RATE_NTF: WRC\_RATE\_NTF: Wheel rate Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Wheel rate Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _WRC_RATE_NEF: WRC\_RATE\_NEF: Wheel rate Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Wheel rate Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _WRC2_RATE_FF: WRC2\_RATE\_FF: Wheel rate control feed forward gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control feed forward gain\. Desired rate \(in radians\/sec\) is multiplied by this constant and output to output \(in the range \-1 to \+1\) +----------------+ | Range | +================+ | 0.100 to 2.000 | +----------------+ .. _WRC2_RATE_P: WRC2\_RATE\_P: Wheel rate control P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control P gain\. Converts rate error \(in radians\/sec\) to output \(in the range \-1 to \+1\) +----------------+ | Range | +================+ | 0.100 to 2.000 | +----------------+ .. _WRC2_RATE_I: WRC2\_RATE\_I: Wheel rate control I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control I gain\. Corrects long term error between the desired rate \(in rad\/s\) and actual +----------------+ | Range | +================+ | 0.000 to 2.000 | +----------------+ .. _WRC2_RATE_IMAX: WRC2\_RATE\_IMAX: Wheel rate control I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control I gain maximum\. Constrains the output \(range \-1 to \+1\) that the I term will generate +----------------+ | Range | +================+ | 0.000 to 1.000 | +----------------+ .. _WRC2_RATE_D: WRC2\_RATE\_D: Wheel rate control D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control D gain\. Compensates for short\-term change in desired rate vs actual +----------------+ | Range | +================+ | 0.000 to 0.400 | +----------------+ .. _WRC2_RATE_FLTT: WRC2\_RATE\_FLTT: Wheel rate control target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control target frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 1 to 50 | hertz | +-----------+---------+-------+ .. _WRC2_RATE_FLTE: WRC2\_RATE\_FLTE: Wheel rate control error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control error frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 1 to 50 | hertz | +-----------+---------+-------+ .. _WRC2_RATE_FLTD: WRC2\_RATE\_FLTD: Wheel rate control derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control derivative frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 1 to 50 | hertz | +-----------+---------+-------+ .. _WRC2_RATE_SMAX: WRC2\_RATE\_SMAX: Wheel rate slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _WRC2_RATE_PDMX: WRC2\_RATE\_PDMX: Wheel rate control PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wheel rate control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +----------------+ | Range | +================+ | 0.000 to 1.000 | +----------------+ .. _WRC2_RATE_D_FF: WRC2\_RATE\_D\_FF: Wheel rate Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.400 | +-----------+----------------+ .. _WRC2_RATE_NTF: WRC2\_RATE\_NTF: Wheel rate Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Wheel rate Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _WRC2_RATE_NEF: WRC2\_RATE\_NEF: Wheel rate Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Wheel rate Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+