.. 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_AP_Periph: AP\_Periph 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 .. _CAN_NODE: CAN\_NODE: DroneCAN node ID used by this node on all networks ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Value of 0 requests any ID from a DNA server\, any other value sets that ID ignoring DNA +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_BAUDRATE: CAN\_BAUDRATE: Bitrate of CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bit rate can be set up to from 10000 to 1000000 +------------------+ | Range | +==================+ | 10000 to 1000000 | +------------------+ .. _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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | Disabled | | | +-------+------------------+ | | | 1 | First interface | | | +-------+------------------+ | | | 2 | Second interface | | | +-------+------------------+ | | | +------------------------------+ .. _CAN_TERMINATE: CAN\_TERMINATE: Enable CAN software termination in this node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable CAN software termination in this node +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _CAN_PROTOCOL: CAN\_PROTOCOL: Enable use of specific protocol to be used on this port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option starts selected protocol that will use this virtual driver\. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | UAVCAN | | | +-------+------------+ | | | 4 | PiccoloCAN | | | +-------+------------+ | | | 6 | EFI_NWPMU | | | +-------+------------+ | | | 7 | USD1 | | | +-------+------------+ | | | 8 | KDECAN | | | +-------+------------+ | | | +------------------------+ .. _CAN2_BAUDRATE: CAN2\_BAUDRATE: Bitrate of CAN2 interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bit rate can be set up to from 10000 to 1000000 +------------------+ | Range | +==================+ | 10000 to 1000000 | +------------------+ .. _CAN2_PROTOCOL: CAN2\_PROTOCOL: Enable use of specific protocol to be used on this port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option starts selected protocol that will use this virtual driver\. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | UAVCAN | | | +-------+------------+ | | | 4 | PiccoloCAN | | | +-------+------------+ | | | 6 | EFI_NWPMU | | | +-------+------------+ | | | 7 | USD1 | | | +-------+------------+ | | | 8 | KDECAN | | | +-------+------------+ | | | +------------------------+ .. _CAN2_TERMINATE: CAN2\_TERMINATE: Enable CAN software termination in this node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable CAN software termination in this node +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _CAN3_BAUDRATE: CAN3\_BAUDRATE: Bitrate of CAN3 interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bit rate can be set up to from 10000 to 1000000 +------------------+ | Range | +==================+ | 10000 to 1000000 | +------------------+ .. _CAN3_PROTOCOL: CAN3\_PROTOCOL: Enable use of specific protocol to be used on this port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option starts selected protocol that will use this virtual driver\. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | UAVCAN | | | +-------+------------+ | | | 4 | PiccoloCAN | | | +-------+------------+ | | | 6 | EFI_NWPMU | | | +-------+------------+ | | | 7 | USD1 | | | +-------+------------+ | | | 8 | KDECAN | | | +-------+------------+ | | | +------------------------+ .. _CAN3_TERMINATE: CAN3\_TERMINATE: Enable CAN software termination in this node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable CAN software termination in this node +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _CAN_FDMODE: CAN\_FDMODE: Enable CANFD mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option sets the CAN bus to be in CANFD mode with BRS\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _CAN_FDBAUDRATE: CAN\_FDBAUDRATE: Set up bitrate for data section on CAN1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the bitrate for the data section of CAN1\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 1 | 1M | | | +-------+---------+ | | | 2 | 2M | | | +-------+---------+ | | | 4 | 4M | | | +-------+---------+ | | | 5 | 5M | | | +-------+---------+ | | | 8 | 8M | | | +-------+---------+ | | | +---------------------+ .. _CAN2_FDBAUDRATE: CAN2\_FDBAUDRATE: Set up bitrate for data section on CAN2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the bitrate for the data section of CAN2\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 1 | 1M | | | +-------+---------+ | | | 2 | 2M | | | +-------+---------+ | | | 4 | 4M | | | +-------+---------+ | | | 5 | 5M | | | +-------+---------+ | | | 8 | 8M | | | +-------+---------+ | | | +---------------------+ .. _FLASH_BOOTLOADER: FLASH\_BOOTLOADER: Trigger bootloader update ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DANGER\! When enabled\, the App will perform a bootloader update by copying the embedded bootloader over the existing bootloader\. This may take a few seconds to perform and should only be done if you know what you\'re doing\. +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _DEBUG: DEBUG: Debug ~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Debug +-----------------------------------+ | Bitmask | +===================================+ | +-----+-------------------------+ | | | Bit | Meaning | | | +=====+=========================+ | | | 0 | Show free stack space | | | +-----+-------------------------+ | | | 1 | Auto Reboot after 15sec | | | +-----+-------------------------+ | | | 2 | Enable sending stats | | | +-----+-------------------------+ | | | +-----------------------------------+ .. _BRD_SERIAL_NUM: BRD\_SERIAL\_NUM: Serial number of device ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Non\-zero positive values will be shown on the CAN App Name string +-----------------+ | Range | +=================+ | 0 to 2147483648 | +-----------------+ .. _BUZZER_VOLUME: BUZZER\_VOLUME: Buzzer volume ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Control the volume of the buzzer +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _GPS_PORT: GPS\_PORT: GPS Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the serial port number where SERIALx\_PROTOCOL will be set to GPS\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _MB_CAN_PORT: MB\_CAN\_PORT: Moving Baseline CAN Port option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Autoselect dedicated CAN port on which moving baseline data will be transmitted\. +------------------------------------------------------------------------------+ | Values | +==============================================================================+ | +-------+------------------------------------------------------------------+ | | | Value | Meaning | | | +=======+==================================================================+ | | | 0 | Sends moving baseline data on all ports | | | +-------+------------------------------------------------------------------+ | | | 1 | auto select remaining port for transmitting Moving baseline Data | | | +-------+------------------------------------------------------------------+ | | | +------------------------------------------------------------------------------+ .. _BATT_HIDE_MASK: BATT\_HIDE\_MASK: Battery hide mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Instance mask of local battery index\(es\) to prevent transmitting their status over CAN\. This is useful for hiding a \"battery\" instance that is used locally in the peripheral but don\'t want them to be treated as a battery source\(s\) to the autopilot\. For example\, an AP\_Periph battery monitor with multiple batteries that monitors each locally for diagnostic or other purposes\, but only reports as a single SUM battery monitor to the autopilot\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 0 | BATT | | | +-----+---------+ | | | 1 | BATT2 | | | +-----+---------+ | | | 2 | BATT3 | | | +-----+---------+ | | | 3 | BATT4 | | | +-----+---------+ | | | 4 | BATT5 | | | +-----+---------+ | | | 5 | BATT6 | | | +-----+---------+ | | | 6 | BATT7 | | | +-----+---------+ | | | 7 | BATT8 | | | +-----+---------+ | | | 8 | BATT9 | | | +-----+---------+ | | | 9 | BATTA | | | +-----+---------+ | | | 10 | BATTB | | | +-----+---------+ | | | 11 | BATTC | | | +-----+---------+ | | | 12 | BATTD | | | +-----+---------+ | | | 13 | BATTE | | | +-----+---------+ | | | 14 | BATTF | | | +-----+---------+ | | | 15 | BATTG | | | +-----+---------+ | | | +-------------------+ .. _BARO_ENABLE: BARO\_ENABLE: Barometer Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Barometer Enable +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _LED_BRIGHTNESS: LED\_BRIGHTNESS: LED Brightness ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Select the RGB LED brightness level\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _RNGFND_BAUDRATE: RNGFND\_BAUDRATE: Rangefinder serial baudrate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Rangefinder serial baudrate\. +-----------+------------------+-----------------------+ | Increment | Range | Values | +===========+==================+=======================+ | 1 | 1200 to 20000000 | +---------+---------+ | | | | | Value | Meaning | | | | | +=========+=========+ | | | | | 1200 | 1200 | | | | | +---------+---------+ | | | | | 2400 | 2400 | | | | | +---------+---------+ | | | | | 4800 | 4800 | | | | | +---------+---------+ | | | | | 9600 | 9600 | | | | | +---------+---------+ | | | | | 19200 | 19200 | | | | | +---------+---------+ | | | | | 38400 | 38400 | | | | | +---------+---------+ | | | | | 57600 | 57600 | | | | | +---------+---------+ | | | | | 111100 | 111100 | | | | | +---------+---------+ | | | | | 115200 | 115200 | | | | | +---------+---------+ | | | | | 230400 | 230400 | | | | | +---------+---------+ | | | | | 256000 | 256000 | | | | | +---------+---------+ | | | | | 460800 | 460800 | | | | | +---------+---------+ | | | | | 500000 | 500000 | | | | | +---------+---------+ | | | | | 921600 | 921600 | | | | | +---------+---------+ | | | | | 1500000 | 1500000 | | | | | +---------+---------+ | | | | | +-----------+------------------+-----------------------+ .. _RNGFND_PORT: RNGFND\_PORT: Rangefinder Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the serial port number where SERIALx\_PROTOCOL will be set to Rangefinder\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _RNGFND2_BAUDRATE: RNGFND2\_BAUDRATE: Rangefinder serial baudrate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Rangefinder serial baudrate\. +-----------+------------------+-----------------------+ | Increment | Range | Values | +===========+==================+=======================+ | 1 | 1200 to 20000000 | +---------+---------+ | | | | | Value | Meaning | | | | | +=========+=========+ | | | | | 1200 | 1200 | | | | | +---------+---------+ | | | | | 2400 | 2400 | | | | | +---------+---------+ | | | | | 4800 | 4800 | | | | | +---------+---------+ | | | | | 9600 | 9600 | | | | | +---------+---------+ | | | | | 19200 | 19200 | | | | | +---------+---------+ | | | | | 38400 | 38400 | | | | | +---------+---------+ | | | | | 57600 | 57600 | | | | | +---------+---------+ | | | | | 111100 | 111100 | | | | | +---------+---------+ | | | | | 115200 | 115200 | | | | | +---------+---------+ | | | | | 230400 | 230400 | | | | | +---------+---------+ | | | | | 256000 | 256000 | | | | | +---------+---------+ | | | | | 460800 | 460800 | | | | | +---------+---------+ | | | | | 500000 | 500000 | | | | | +---------+---------+ | | | | | 921600 | 921600 | | | | | +---------+---------+ | | | | | 1500000 | 1500000 | | | | | +---------+---------+ | | | | | +-----------+------------------+-----------------------+ .. _RNGFND2_PORT: RNGFND2\_PORT: Rangefinder Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the serial port number where SERIALx\_PROTOCOL will be set to Rangefinder\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _RNGFND_MAX_RATE: RNGFND\_MAX\_RATE: Rangefinder max rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the maximum rate we send rangefinder data in Hz\. Zero means no limit +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 200 | hertz | +-----------+----------+-------+ .. _ADSB_BAUDRATE: ADSB\_BAUDRATE: ADSB serial baudrate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* ADSB serial baudrate\. +-----------+------------------+-----------------------+ | Increment | Range | Values | +===========+==================+=======================+ | 1 | 1200 to 20000000 | +---------+---------+ | | | | | Value | Meaning | | | | | +=========+=========+ | | | | | 1200 | 1200 | | | | | +---------+---------+ | | | | | 2400 | 2400 | | | | | +---------+---------+ | | | | | 4800 | 4800 | | | | | +---------+---------+ | | | | | 9600 | 9600 | | | | | +---------+---------+ | | | | | 19200 | 19200 | | | | | +---------+---------+ | | | | | 38400 | 38400 | | | | | +---------+---------+ | | | | | 57600 | 57600 | | | | | +---------+---------+ | | | | | 111100 | 111100 | | | | | +---------+---------+ | | | | | 115200 | 115200 | | | | | +---------+---------+ | | | | | 230400 | 230400 | | | | | +---------+---------+ | | | | | 256000 | 256000 | | | | | +---------+---------+ | | | | | 460800 | 460800 | | | | | +---------+---------+ | | | | | 500000 | 500000 | | | | | +---------+---------+ | | | | | 921600 | 921600 | | | | | +---------+---------+ | | | | | 1500000 | 1500000 | | | | | +---------+---------+ | | | | | +-----------+------------------+-----------------------+ .. _ADSB_PORT: ADSB\_PORT: ADSB Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the serial port number where SERIALx\_PROTOCOL will be set to ADSB\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _HARDPOINT_ID: HARDPOINT\_ID: Hardpoint ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Hardpoint ID .. _HARDPOINT_RATE: HARDPOINT\_RATE: Hardpoint PWM rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Hardpoint PWM rate +-----------+-----------+-------+ | Increment | Range | Units | +===========+===========+=======+ | 1 | 10 to 100 | hertz | +-----------+-----------+-------+ .. _ESC_NUMBER: ESC\_NUMBER: ESC number ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the ESC number to report as in UAVCAN ESC telemetry feedback packets\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _ESC_RATE: ESC\_RATE: ESC Update Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Rate in Hz that ESC PWM outputs \(function is MotorN\) will update at +-----------+-----------+-------+ | Increment | Range | Units | +===========+===========+=======+ | 1 | 50 to 400 | hertz | +-----------+-----------+-------+ .. _ESC_PWM_TYPE: ESC\_PWM\_TYPE: Output PWM type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This selects the output PWM type\, allowing for normal PWM continuous output\, OneShot\, brushed or DShot motor output +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 1 | Normal | | | +-------+------------+ | | | 2 | OneShot | | | +-------+------------+ | | | 3 | OneShot125 | | | +-------+------------+ | | | 4 | Brushed | | | +-------+------------+ | | | 5 | DShot150 | | | +-------+------------+ | | | 6 | DShot300 | | | +-------+------------+ | | | 7 | DShot600 | | | +-------+------------+ | | | 8 | DShot1200 | | | +-------+------------+ | | | +------------------------+ .. _ESC_CMD_TIMO: ESC\_CMD\_TIMO: ESC Command Timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the duration \(ms\) with which to hold the last driven ESC command before timing out and zeroing the ESC outputs\. To disable zeroing of outputs in event of CAN loss\, use 0\. Use values greater than the expected duration between two CAN frames to ensure Periph is not starved of ESC Raw Commands\. +------------+--------------+ | Range | Units | +============+==============+ | 0 to 10000 | milliseconds | +------------+--------------+ .. _ESC_TELEM_PORT: ESC\_TELEM\_PORT: ESC Telemetry Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the serial port number where SERIALx\_PROTOCOL will be set to ESC Telemetry +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _ESC_TELEM_RATE: ESC\_TELEM\_RATE: ESC Telemetry update rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the rate at which ESC Telemetry will be sent across the CAN bus +-----------+-----------+ | Increment | Range | +===========+===========+ | 1 | 0 to 1000 | +-----------+-----------+ .. _MSP_PORT: MSP\_PORT: MSP Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the serial port number where SERIALx\_PROTOCOL will be set to MSP +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _LOG_BITMASK: LOG\_BITMASK: Log bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~ 4 byte bitmap of log types to enable +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 2 | GPS | | | +-----+---------+ | | | +-------------------+ .. _EFI_BAUDRATE: EFI\_BAUDRATE: EFI serial baudrate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* EFI serial baudrate\. +-----------+------------------+-----------------------+ | Increment | Range | Values | +===========+==================+=======================+ | 1 | 1200 to 20000000 | +---------+---------+ | | | | | Value | Meaning | | | | | +=========+=========+ | | | | | 1200 | 1200 | | | | | +---------+---------+ | | | | | 2400 | 2400 | | | | | +---------+---------+ | | | | | 4800 | 4800 | | | | | +---------+---------+ | | | | | 9600 | 9600 | | | | | +---------+---------+ | | | | | 19200 | 19200 | | | | | +---------+---------+ | | | | | 38400 | 38400 | | | | | +---------+---------+ | | | | | 57600 | 57600 | | | | | +---------+---------+ | | | | | 111100 | 111100 | | | | | +---------+---------+ | | | | | 115200 | 115200 | | | | | +---------+---------+ | | | | | 230400 | 230400 | | | | | +---------+---------+ | | | | | 256000 | 256000 | | | | | +---------+---------+ | | | | | 460800 | 460800 | | | | | +---------+---------+ | | | | | 500000 | 500000 | | | | | +---------+---------+ | | | | | 921600 | 921600 | | | | | +---------+---------+ | | | | | 1500000 | 1500000 | | | | | +---------+---------+ | | | | | +-----------+------------------+-----------------------+ .. _EFI_PORT: EFI\_PORT: EFI Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the serial port number where SERIALx\_PROTOCOL will be set to EFI\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _PRX_BAUDRATE: PRX\_BAUDRATE: Proximity Sensor serial baudrate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Proximity Sensor serial baudrate\. +-----------+------------------+-----------------------+ | Increment | Range | Values | +===========+==================+=======================+ | 1 | 1200 to 20000000 | +---------+---------+ | | | | | Value | Meaning | | | | | +=========+=========+ | | | | | 1200 | 1200 | | | | | +---------+---------+ | | | | | 2400 | 2400 | | | | | +---------+---------+ | | | | | 4800 | 4800 | | | | | +---------+---------+ | | | | | 9600 | 9600 | | | | | +---------+---------+ | | | | | 19200 | 19200 | | | | | +---------+---------+ | | | | | 38400 | 38400 | | | | | +---------+---------+ | | | | | 57600 | 57600 | | | | | +---------+---------+ | | | | | 111100 | 111100 | | | | | +---------+---------+ | | | | | 115200 | 115200 | | | | | +---------+---------+ | | | | | 230400 | 230400 | | | | | +---------+---------+ | | | | | 256000 | 256000 | | | | | +---------+---------+ | | | | | 460800 | 460800 | | | | | +---------+---------+ | | | | | 500000 | 500000 | | | | | +---------+---------+ | | | | | 921600 | 921600 | | | | | +---------+---------+ | | | | | 1500000 | 1500000 | | | | | +---------+---------+ | | | | | +-----------+------------------+-----------------------+ .. _PRX_PORT: PRX\_PORT: Proximity Sensor Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the serial port number where SERIALx\_PROTOCOL will be set to Proximity Sensor\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _PRX_MAX_RATE: PRX\_MAX\_RATE: Proximity Sensor max rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the maximum rate we send Proximity Sensor data in Hz\. Zero means no limit +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 200 | hertz | +-----------+----------+-------+ .. _ESC_APD_SERIAL_1: ESC\_APD\_SERIAL\_1: ESC APD Serial 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Which serial port to use for APD ESC data +-----------+--------+ | Increment | Range | +===========+========+ | 1 | 0 to 6 | +-----------+--------+ .. _ESC_APD_SERIAL_2: ESC\_APD\_SERIAL\_2: ESC APD Serial 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Which serial port to use for APD ESC data +-----------+--------+ | Increment | Range | +===========+========+ | 1 | 0 to 6 | +-----------+--------+ .. _CAN_MIRROR_PORTS: CAN\_MIRROR\_PORTS: CAN ports to mirror traffic between ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Any set ports will participate in blindly mirroring traffic from one port to the other\. It is the users responsibility to ensure that no loops exist that cause traffic to be infinitly repeated\, and both ports must be running the same baud rates\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 0 | CAN1 | | | +-----+---------+ | | | 1 | CAN2 | | | +-----+---------+ | | | 2 | CAN3 | | | +-----+---------+ | | | +-------------------+ .. _TEMP_MSG_RATE: TEMP\_MSG\_RATE: Temperature sensor message rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the rate Temperature sensor data is sent in Hz\. Zero means no send\. Each sensor with source DroneCAN is sent in turn\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 200 | hertz | +-----------+----------+-------+ .. _OPTIONS: OPTIONS: AP Periph Options ~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask of AP Periph Options +------------------------------------------+ | Bitmask | +==========================================+ | +-----+--------------------------------+ | | | Bit | Meaning | | | +=====+================================+ | | | 0 | Enable continuous sensor probe | | | +-----+--------------------------------+ | | | +------------------------------------------+ .. _RPM_MSG_RATE: RPM\_MSG\_RATE: RPM sensor message rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the rate RPM sensor data is sent in Hz\. Zero means no send\. Each sensor with a set ID is sent in turn\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 200 | hertz | +-----------+----------+-------+ .. _ESC_EXT_TLM_RATE: ESC\_EXT\_TLM\_RATE: ESC Extended telemetry message rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the rate at which extended ESC Telemetry will be sent across the CAN bus for each ESC +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _IMU_SAMPLE_RATE: IMU\_SAMPLE\_RATE: IMU Sample Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ IMU Sample Rate +-----------+ | Range | +===========+ | 0 to 1000 | +-----------+ .. _SRV_CMD_TIME_OUT: SRV\_CMD\_TIME\_OUT: Servo Command Timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the duration \(ms\) with which to hold the last driven servo command before timing out and zeroing the servo outputs\. To disable zeroing of outputs in event of CAN loss\, use 0\. Use values greater than the expected duration between two CAN frames to ensure Periph is not starved of ESC Raw Commands\. +------------+--------------+ | Range | Units | +============+==============+ | 0 to 10000 | milliseconds | +------------+--------------+ .. _SRV_TLM_MSG_RATE: SRV\_TLM\_MSG\_RATE: Servo telemetry message rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the rate servo telem data is sent in Hz\. Zero means no send\. Each servo is sent in turn\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 200 | hertz | +-----------+----------+-------+ .. _parameters_ACT: ACT Parameters -------------- .. _ACT_NUM_CHANS: ACT\_NUM\_CHANS: Number of actuator channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of actuator channels to monitor for telemetry\. +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _ACT_CURR_PIN1: ACT\_CURR\_PIN1: Current sensing pin 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Analog input pin number for current sensing on channel 1\. Set to \-1 to disable\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _ACT_AMP_OFFSET: ACT\_AMP\_OFFSET: Current sensor offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage offset at zero current on the current sensor\. +-------+ | Units | +=======+ | volt | +-------+ .. _ACT_AMP_PERVLT: ACT\_AMP\_PERVLT: Amps per volt ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Current sensor scale factor\. +-----------------+ | Units | +=================+ | ampere per volt | +-----------------+ .. _ACT_CURR_MAX: ACT\_CURR\_MAX: Maximum current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum expected current for this channel\. +--------+ | Units | +========+ | ampere | +--------+ .. _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\. +-------------------------------------------------+ | Values | +=================================================+ | +-------+-------------------------------------+ | | | 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\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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 +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | 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\. +---------------------------------------+ | Bitmask | +=======================================+ | +-----+-----------------------------+ | | | 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_ARSPD: ARSPD Parameters ---------------- .. _ARSPD_ENABLE: ARSPD\_ENABLE: Airspeed Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable airspeed sensor support +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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\. +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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 +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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* Bitmask of options to use with airspeed\. 0\:Disable use based on airspeed\/groundspeed mismatch \(see ARSPD\_WIND\_MAX\)\, 1\:Automatically reenable use based on airspeed\/groundspeed mismatch recovery \(see ARSPD\_WIND\_MAX\) 2\:Disable voltage correction\, 3\:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 \(requires AHRS\_EKF\_TYPE \= 3\)\, 4\:Report cal offset to GCS +--------------------------------------+ | Bitmask | +======================================+ | +-----+----------------------------+ | | | 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* If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy\. Using ARSPD\_OPTIONS this health value can be used to disable the sensor\. +-------------------+ | 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* If the difference between airspeed and GPS speed is greater than this value the sensor will issue a warning\. If 0 ARSPD\_WIND\_MAX is used\. +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _ARSPD_WIND_GATE: ARSPD\_WIND\_GATE: Re\-enable Consistency Check Gate Size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Number of standard deviations applied to the re\-enable EKF consistency check that is used when ARSPD\_OPTIONS bit position 3 is set\. Larger values will make the re\-enabling of the airspeed sensor faster\, but increase the likelihood of re\-enabling a degraded sensor\. The value can be tuned by using the ARSP\.TR log message by setting ARSPD\_WIND\_GATE to a value that is higher than the value for ARSP\.TR observed with a healthy airspeed sensor\. Occasional transients in ARSP\.TR above the value set by ARSPD\_WIND\_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10\% duty cycle\. +-------------+ | 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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | 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 ~~~~~~~~~~~~~~~~~~~~~~~~~ Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _ARSPD2_AUTOCAL: ARSPD2\_AUTOCAL: Automatic airspeed ratio calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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\. +---------------------------------------------------------------------------------------------------------------------------+ | Values | +===========================================================================================================================+ | +-------+---------------------------------------------------------------------------------------------------------------+ | | | 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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | 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 ~~~~~~~~~~~~~~~~~~~~~~~~~ Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _ARSPD3_AUTOCAL: ARSPD3\_AUTOCAL: Automatic airspeed ratio calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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\. +---------------------------------------------------------------------------------------------------------------------------+ | Values | +===========================================================================================================================+ | +-------+---------------------------------------------------------------------------------------------------------------+ | | | 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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | 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 ~~~~~~~~~~~~~~~~~~~~~~~~~ Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _ARSPD4_AUTOCAL: ARSPD4\_AUTOCAL: Automatic airspeed ratio calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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\. +---------------------------------------------------------------------------------------------------------------------------+ | Values | +===========================================================================================================================+ | +-------+---------------------------------------------------------------------------------------------------------------+ | | | 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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | 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 ~~~~~~~~~~~~~~~~~~~~~~~~~ Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _ARSPD5_AUTOCAL: ARSPD5\_AUTOCAL: Automatic airspeed ratio calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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\. +---------------------------------------------------------------------------------------------------------------------------+ | Values | +===========================================================================================================================+ | +-------+---------------------------------------------------------------------------------------------------------------+ | | | 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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | 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 ~~~~~~~~~~~~~~~~~~~~~~~~~ Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _ARSPD6_AUTOCAL: ARSPD6\_AUTOCAL: Automatic airspeed ratio calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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\. +---------------------------------------------------------------------------------------------------------------------------+ | Values | +===========================================================================================================================+ | +-------+---------------------------------------------------------------------------------------------------------------+ | | | 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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | 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 ~~~~~~~~~~~~~~~~~~~~~~~~ Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _ARSPD_AUTOCAL: ARSPD\_AUTOCAL: Automatic airspeed ratio calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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\. +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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\. +---------------------------------------------------------------------------------------------------------------------------+ | Values | +===========================================================================================================================+ | +-------+---------------------------------------------------------------------------------------------------------------+ | | | 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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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_BAL: BAL Parameters -------------- .. _BAL_NUM_CELLS: BAL\_NUM\_CELLS: Number of battery cells ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of battery cells to monitor +---------+ | Range | +=========+ | 0 to 64 | +---------+ .. _BAL_ID: BAL\_ID: Battery ID ~~~~~~~~~~~~~~~~~~~ Battery ID to match against other batteries +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _BAL_RATE: BAL\_RATE: Send Rate ~~~~~~~~~~~~~~~~~~~~ Rate to send cell information +---------+ | Range | +=========+ | 0 to 20 | +---------+ .. _BAL_CELL1_PIN: BAL\_CELL1\_PIN: First analog pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Analog pin of the first cell\. Later cells must be sequential +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _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 +-----------------------+ | Values | +=======================+ | +-------+-----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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 | +----------+ .. _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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | 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 +---------------------------------------------------------+ | Values | +=========================================================+ | +-------+---------------------------------------------+ | | | 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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | 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_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 +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | 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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 4 | CubeOrange_PM2/Navigator | | | | +-------+--------------------------------------+ | | | | 14 | Pixhawk2_PM2 | | | | +-------+--------------------------------------+ | | | | 15 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 17 | Durandal | | | | +-------+--------------------------------------+ | | | | 101 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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\. +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | Value | Meaning | | | +=======+============================+ | | | 0 | Disabled | | | +-------+----------------------------+ | | | 1 | Write configuration once | | | +-------+----------------------------+ | | | 2 | Check and update if needed | | | +-------+----------------------------+ | | | +----------------------------------------+ .. _parameters_BMS: BMS Parameters -------------- .. _BMSSLEEP_SEC: BMSSLEEP\_SEC: Battery Sleep Timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery sleep timeout in seconds\. If there is no activity for this many seconds the battery will enter sleep mode\. Set to 0 to disable sleep mode +----------+ | Range | +==========+ | 0 to 600 | +----------+ .. _parameters_BTAG: BTAG Parameters --------------- .. _BTAG_NUM_CYCLES: BTAG\_NUM\_CYCLES: Number of cycles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of cycles the battery has been through .. _BTAG_ARM_HOURS: BTAG\_ARM\_HOURS: Number of armed hours ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of hours the battery has been armed .. _BTAG_CAPACITY: BTAG\_CAPACITY: Battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery capacity in mAh .. _BTAG_FIRST_USE: BTAG\_FIRST\_USE: First use time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ First use time in minutes since 1\/1\/1970 .. _BTAG_LAST_USE: BTAG\_LAST\_USE: Last use time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Last use time in minutes since 1\/1\/1970 .. _BTAG_SERIAL: BTAG\_SERIAL: Serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Serial number .. _BTAG_CYCLE_MIN: BTAG\_CYCLE\_MIN: Cycle minimum time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Cycle minimum time\. Minimum time that vehicle is armed in minutes for counting a battery cycle .. _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\. +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +-------------+--------------------------+ | Calibration | Values | +=============+==========================+ | 1 | +-------+--------------+ | | | | Value | Meaning | | | | +=======+==============+ | | | | 0 | Disabled | | | | +-------+--------------+ | | | | 1 | Use Throttle | | | | +-------+--------------+ | | | | 2 | Use Current | | | | +-------+--------------+ | | | | +-------------+--------------------------+ .. _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\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | 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\. +-----------+---------+-------------------------+ | Increment | Range | Values | +===========+=========+=========================+ | 0.1 | 4 to 32 | +-------+-------------+ | | | | | Value | Meaning | | | | | +=======+=============+ | | | | | 4 | Very Strict | | | | | +-------+-------------+ | | | | | 8 | Strict | | | | | +-------+-------------+ | | | | | 16 | Default | | | | | +-------+-------------+ | | | | | 32 | Relaxed | | | | | +-------+-------------+ | | | | | +-----------+---------+-------------------------+ .. _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 +------------------------------+ | Bitmask | +==============================+ | +-----+--------------------+ | | | 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\. +----------------------------------------------------------------+ | Values | +================================================================+ | +-------+----------------------------------------------------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +-----------------------------------------------------------------------------------------------------+ | Bitmask | +=====================================================================================================+ | +-----+-------------------------------------------------------------------------------------------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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_DAC1_: DAC1\_ Parameters ----------------- .. _DAC1_TYPE: DAC1\_TYPE: DAC Type ~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* DAC Type +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | TIx3204 | | | +-------+----------+ | | | 2 | MCP401x | | | +-------+----------+ | | | +----------------------+ .. _DAC1_BUS: DAC1\_BUS: I2C bus ~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* I2C bus number +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _DAC1_ADDR: DAC1\_ADDR: I2C address ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* I2C address +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _DAC1_VREF: DAC1\_VREF: Voltage reference ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Voltage reference +-----------+ | Range | +===========+ | 0 to 1000 | +-----------+ .. _DAC1_VOLTS: DAC1\_VOLTS: Voltage ~~~~~~~~~~~~~~~~~~~~ Voltage +-----------+ | Range | +===========+ | 0 to 1000 | +-----------+ .. _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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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_GPS: GPS Parameters -------------- .. _GPS_NAVFILTER: GPS\_NAVFILTER: Navigation filter setting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Navigation filter engine setting +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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 +---------------------------------------------+ | Values | +=============================================+ | +-------+---------------------------------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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 +------------------------------------------------------+ | Values | +======================================================+ | +-------+------------------------------------------+ | | | 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\. +-----------------------------------+ | Values | +===================================+ | +-------+-----------------------+ | | | 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 +------------------------------------------------------------------------+ | Values | +========================================================================+ | +-------+------------------------------------------------------------+ | | | 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\(Blend\) +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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 +-----------------------------------------------------------------------------------------------------------+ | Bitmask | +===========================================================================================================+ | +-----+-------------------------------------------------------------------------------------------------+ | | | 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\. +-----------+-----------------------+ | Increment | Values | +===========+=======================+ | 1 | +-------+-----------+ | | | | Value | Meaning | | | | +=======+===========+ | | | | 0 | FirstGPS | | | | +-------+-----------+ | | | | 1 | SecondGPS | | | | +-------+-----------+ | | | | +-----------+-----------------------+ .. _parameters_GPS1_: GPS1\_ Parameters ----------------- .. _GPS1_TYPE: GPS1\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* GPS type +-------------------------------------------+ | Values | +===========================================+ | +-------+-------------------------------+ | | | 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 \(all unchecked or zero to leave GPS as configured\) +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+--------------+---------------------+ | Range | Units | Values | +===========+==============+=====================+ | 50 to 200 | milliseconds | +-------+---------+ | | | | | Value | Meaning | | | | | +=======+=========+ | | | | | 100 | 10Hz | | | | | +-------+---------+ | | | | | 125 | 8Hz | | | | | +-------+---------+ | | | | | 200 | 5Hz | | | | | +-------+---------+ | | | | | +-----------+--------------+---------------------+ .. _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 +-----------+---------+---------------------------------+ | Increment | Range | Values | +===========+=========+=================================+ | 1 | 0 to 10 | +-------+---------------------+ | | | | | Value | Meaning | | | | | +=======+=====================+ | | | | | 0 | COM1(RS232) on GSOF | | | | | +-------+---------------------+ | | | | | 1 | COM2(TTL) on GSOF | | | | | +-------+---------------------+ | | | | | +-----------+---------+---------------------------------+ .. _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\. +------------------------------------------------+ | Values | +================================================+ | +-------+------------------------------------+ | | | 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 +-------------------------------------------+ | Values | +===========================================+ | +-------+-------------------------------+ | | | 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 \(all unchecked or zero to leave GPS as configured\) +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------+--------------+---------------------+ | Range | Units | Values | +===========+==============+=====================+ | 50 to 200 | milliseconds | +-------+---------+ | | | | | Value | Meaning | | | | | +=======+=========+ | | | | | 100 | 10Hz | | | | | +-------+---------+ | | | | | 125 | 8Hz | | | | | +-------+---------+ | | | | | 200 | 5Hz | | | | | +-------+---------+ | | | | | +-----------+--------------+---------------------+ .. _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 +-----------+---------+---------------------------------+ | Increment | Range | Values | +===========+=========+=================================+ | 1 | 0 to 10 | +-------+---------------------+ | | | | | Value | Meaning | | | | | +=======+=====================+ | | | | | 0 | COM1(RS232) on GSOF | | | | | +-------+---------------------+ | | | | | 1 | COM2(TTL) on GSOF | | | | | +-------+---------------------+ | | | | | +-----------+---------+---------------------------------+ .. _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\. +------------------------------------------------+ | Values | +================================================+ | +-------+------------------------------------+ | | | 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\. +------------------------------------------------+ | Values | +================================================+ | +-------+------------------------------------+ | | | 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\. +------------------------------------------------+ | Values | +================================================+ | +-------+------------------------------------+ | | | 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_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +--------------------------------------------------------------------+ | Values | +====================================================================+ | +-------+--------------------------------------------------------+ | | | 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 +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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 +----------------------+ | Bitmask | +======================+ | +-----+------------+ | | | 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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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\. +-------------------------+ | Bitmask | +=========================+ | +-----+---------------+ | | | 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 +---------------------------------+ | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +-------------------------+ | Bitmask | +=========================+ | +-----+---------------+ | | | 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\. +--------+-------------------------------+ | Range | Values | +========+===============================+ | 0 to 5 | +-------+-------------------+ | | | | Value | Meaning | | | | +=======+===================+ | | | | 0 | Fixed | | | | +-------+-------------------+ | | | | 1 | Throttle | | | | +-------+-------------------+ | | | | 2 | RPM Sensor | | | | +-------+-------------------+ | | | | 3 | ESC Telemetry | | | | +-------+-------------------+ | | | | 4 | Dynamic FFT | | | | +-------+-------------------+ | | | | 5 | Second RPM Sensor | | | | +-------+-------------------+ | | | | +--------+-------------------------------+ .. _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\. +----------------------------------------------+ | Bitmask | +==============================================+ | +-----+------------------------------------+ | | | 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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +-------------------------+ | Bitmask | +=========================+ | +-----+---------------+ | | | 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\. +--------+-------------------------------+ | Range | Values | +========+===============================+ | 0 to 5 | +-------+-------------------+ | | | | Value | Meaning | | | | +=======+===================+ | | | | 0 | Fixed | | | | +-------+-------------------+ | | | | 1 | Throttle | | | | +-------+-------------------+ | | | | 2 | RPM Sensor | | | | +-------+-------------------+ | | | | 3 | ESC Telemetry | | | | +-------+-------------------+ | | | | 4 | Dynamic FFT | | | | +-------+-------------------+ | | | | 5 | Second RPM Sensor | | | | +-------+-------------------+ | | | | +--------+-------------------------------+ .. _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\. +----------------------------------------------+ | Bitmask | +==============================================+ | +-----+------------------------------------+ | | | 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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +-------------------------+ | Bitmask | +=========================+ | +-----+---------------+ | | | 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\. +--------+-------------------------------+ | Range | Values | +========+===============================+ | 0 to 5 | +-------+-------------------+ | | | | Value | Meaning | | | | +=======+===================+ | | | | 0 | Fixed | | | | +-------+-------------------+ | | | | 1 | Throttle | | | | +-------+-------------------+ | | | | 2 | RPM Sensor | | | | +-------+-------------------+ | | | | 3 | ESC Telemetry | | | | +-------+-------------------+ | | | | 4 | Dynamic FFT | | | | +-------+-------------------+ | | | | 5 | Second RPM Sensor | | | | +-------+-------------------+ | | | | +--------+-------------------------------+ .. _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\. +----------------------------------------------+ | Bitmask | +==============================================+ | +-----+------------------------------------+ | | | 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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +-------------------------+ | Bitmask | +=========================+ | +-----+---------------+ | | | 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\. +--------+-------------------------------+ | Range | Values | +========+===============================+ | 0 to 5 | +-------+-------------------+ | | | | Value | Meaning | | | | +=======+===================+ | | | | 0 | Fixed | | | | +-------+-------------------+ | | | | 1 | Throttle | | | | +-------+-------------------+ | | | | 2 | RPM Sensor | | | | +-------+-------------------+ | | | | 3 | ESC Telemetry | | | | +-------+-------------------+ | | | | 4 | Dynamic FFT | | | | +-------+-------------------+ | | | | 5 | Second RPM Sensor | | | | +-------+-------------------+ | | | | +--------+-------------------------------+ .. _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\. +----------------------------------------------+ | Bitmask | +==============================================+ | +-----+------------------------------------+ | | | 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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +-----------------------------------------------------------------------+ | Bitmask | +=======================================================================+ | +-----+-------------------------------------------------------------+ | | | 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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +--------------------------------------------------+ | Values | +==================================================+ | +-------+--------------------------------------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +-------------------------------------------------------------------------------------------+ | Bitmask | +===========================================================================================+ | +-----+---------------------------------------------------------------------------------+ | | | 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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _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\. +-------------------------------------------------------+ | Bitmask | +=======================================================+ | +-----+---------------------------------------------+ | | | 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 +----------+---------------------------------------+ | ReadOnly | Values | +==========+=======================================+ | True | +--------+--------------------------+ | | | | 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 | | | | +--------+--------------------------+ | | | | +----------+---------------------------------------+ .. _parameters_NET_: NET\_ Parameters ---------------- .. _NET_PPP_PORT: NET\_PPP\_PORT: PPP serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PPP serial port +----------+ | Range | +==========+ | -1 to 10 | +----------+ .. _NET_PPP_BAUD: NET\_PPP\_BAUD: PPP serial baudrate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PPP serial baudrate +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _parameters_NET_: NET\_ Parameters ---------------- .. _NET_ENABLE: NET\_ENABLE: Networking Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networking Enable +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +----------------------------+ | Bitmask | +============================+ | +-----+------------------+ | | | 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 +------------------------------------------+ | Bitmask | +==========================================+ | +-----+--------------------------------+ | | | 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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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 +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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 +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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 +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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 +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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_P5_: NET\_P5\_ Parameters -------------------- .. _NET_P5_TYPE: NET\_P5\_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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | UDP client | | | +-------+------------+ | | | 2 | UDP server | | | +-------+------------+ | | | 3 | TCP client | | | +-------+------------+ | | | 4 | TCP server | | | +-------+------------+ | | | +------------------------+ .. _NET_P5_PROTOCOL: NET\_P5\_PROTOCOL: Protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networked serial port protocol +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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_P5_PORT: NET\_P5\_PORT: Port number ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port number +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_NET_P5_IP: NET\_P5\_IP Parameters ---------------------- .. _NET_P5_IP0: NET\_P5\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P5_IP1: NET\_P5\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P5_IP2: NET\_P5\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P5_IP3: NET\_P5\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_P6_: NET\_P6\_ Parameters -------------------- .. _NET_P6_TYPE: NET\_P6\_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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | UDP client | | | +-------+------------+ | | | 2 | UDP server | | | +-------+------------+ | | | 3 | TCP client | | | +-------+------------+ | | | 4 | TCP server | | | +-------+------------+ | | | +------------------------+ .. _NET_P6_PROTOCOL: NET\_P6\_PROTOCOL: Protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networked serial port protocol +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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_P6_PORT: NET\_P6\_PORT: Port number ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port number +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_NET_P6_IP: NET\_P6\_IP Parameters ---------------------- .. _NET_P6_IP0: NET\_P6\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P6_IP1: NET\_P6\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P6_IP2: NET\_P6\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P6_IP3: NET\_P6\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_P7_: NET\_P7\_ Parameters -------------------- .. _NET_P7_TYPE: NET\_P7\_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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | UDP client | | | +-------+------------+ | | | 2 | UDP server | | | +-------+------------+ | | | 3 | TCP client | | | +-------+------------+ | | | 4 | TCP server | | | +-------+------------+ | | | +------------------------+ .. _NET_P7_PROTOCOL: NET\_P7\_PROTOCOL: Protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networked serial port protocol +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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_P7_PORT: NET\_P7\_PORT: Port number ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port number +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_NET_P7_IP: NET\_P7\_IP Parameters ---------------------- .. _NET_P7_IP0: NET\_P7\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P7_IP1: NET\_P7\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P7_IP2: NET\_P7\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P7_IP3: NET\_P7\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_P8_: NET\_P8\_ Parameters -------------------- .. _NET_P8_TYPE: NET\_P8\_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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | UDP client | | | +-------+------------+ | | | 2 | UDP server | | | +-------+------------+ | | | 3 | TCP client | | | +-------+------------+ | | | 4 | TCP server | | | +-------+------------+ | | | +------------------------+ .. _NET_P8_PROTOCOL: NET\_P8\_PROTOCOL: Protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networked serial port protocol +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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_P8_PORT: NET\_P8\_PORT: Port number ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port number +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_NET_P8_IP: NET\_P8\_IP Parameters ---------------------- .. _NET_P8_IP0: NET\_P8\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P8_IP1: NET\_P8\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P8_IP2: NET\_P8\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P8_IP3: NET\_P8\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_P9_: NET\_P9\_ Parameters -------------------- .. _NET_P9_TYPE: NET\_P9\_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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | UDP client | | | +-------+------------+ | | | 2 | UDP server | | | +-------+------------+ | | | 3 | TCP client | | | +-------+------------+ | | | 4 | TCP server | | | +-------+------------+ | | | +------------------------+ .. _NET_P9_PROTOCOL: NET\_P9\_PROTOCOL: Protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Networked serial port protocol +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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_P9_PORT: NET\_P9\_PORT: Port number ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Port number +------------+ | Range | +============+ | 0 to 65535 | +------------+ .. _parameters_NET_P9_IP: NET\_P9\_IP Parameters ---------------------- .. _NET_P9_IP0: NET\_P9\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P9_IP1: NET\_P9\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P9_IP2: NET\_P9\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _NET_P9_IP3: NET\_P9\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_NET_PASS1_: NET\_PASS1\_ Parameters ----------------------- .. _NET_PASS1_ENABLE: NET\_PASS1\_ENABLE: Enable Passthrough ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Passthrough of any UART\, Network\, or CAN ports to any UART\, Network\, or CAN ports\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _NET_PASS1_EP1: NET\_PASS1\_EP1: Endpoint 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 1\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 2\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS1_EP2: NET\_PASS1\_EP2: Endpoint 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 2\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 1\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS1_BAUD1: NET\_PASS1\_BAUD1: Endpoint 1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 1\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS1_BAUD2: NET\_PASS1\_BAUD2: Endpoint 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 2\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS1_OPT1: NET\_PASS1\_OPT1: Serial Port Options EP1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 1\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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) | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _NET_PASS1_OPT2: NET\_PASS1\_OPT2: Serial Port Options EP2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 2\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_NET_PASS2_: NET\_PASS2\_ Parameters ----------------------- .. _NET_PASS2_ENABLE: NET\_PASS2\_ENABLE: Enable Passthrough ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Passthrough of any UART\, Network\, or CAN ports to any UART\, Network\, or CAN ports\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _NET_PASS2_EP1: NET\_PASS2\_EP1: Endpoint 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 1\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 2\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS2_EP2: NET\_PASS2\_EP2: Endpoint 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 2\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 1\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS2_BAUD1: NET\_PASS2\_BAUD1: Endpoint 1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 1\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS2_BAUD2: NET\_PASS2\_BAUD2: Endpoint 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 2\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS2_OPT1: NET\_PASS2\_OPT1: Serial Port Options EP1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 1\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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) | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _NET_PASS2_OPT2: NET\_PASS2\_OPT2: Serial Port Options EP2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 2\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_NET_PASS3_: NET\_PASS3\_ Parameters ----------------------- .. _NET_PASS3_ENABLE: NET\_PASS3\_ENABLE: Enable Passthrough ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Passthrough of any UART\, Network\, or CAN ports to any UART\, Network\, or CAN ports\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _NET_PASS3_EP1: NET\_PASS3\_EP1: Endpoint 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 1\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 2\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS3_EP2: NET\_PASS3\_EP2: Endpoint 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 2\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 1\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS3_BAUD1: NET\_PASS3\_BAUD1: Endpoint 1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 1\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS3_BAUD2: NET\_PASS3\_BAUD2: Endpoint 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 2\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS3_OPT1: NET\_PASS3\_OPT1: Serial Port Options EP1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 1\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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) | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _NET_PASS3_OPT2: NET\_PASS3\_OPT2: Serial Port Options EP2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 2\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_NET_PASS4_: NET\_PASS4\_ Parameters ----------------------- .. _NET_PASS4_ENABLE: NET\_PASS4\_ENABLE: Enable Passthrough ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Passthrough of any UART\, Network\, or CAN ports to any UART\, Network\, or CAN ports\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _NET_PASS4_EP1: NET\_PASS4\_EP1: Endpoint 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 1\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 2\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS4_EP2: NET\_PASS4\_EP2: Endpoint 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 2\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 1\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS4_BAUD1: NET\_PASS4\_BAUD1: Endpoint 1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 1\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS4_BAUD2: NET\_PASS4\_BAUD2: Endpoint 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 2\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS4_OPT1: NET\_PASS4\_OPT1: Serial Port Options EP1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 1\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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) | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _NET_PASS4_OPT2: NET\_PASS4\_OPT2: Serial Port Options EP2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 2\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_NET_PASS5_: NET\_PASS5\_ Parameters ----------------------- .. _NET_PASS5_ENABLE: NET\_PASS5\_ENABLE: Enable Passthrough ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Passthrough of any UART\, Network\, or CAN ports to any UART\, Network\, or CAN ports\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _NET_PASS5_EP1: NET\_PASS5\_EP1: Endpoint 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 1\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 2\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS5_EP2: NET\_PASS5\_EP2: Endpoint 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 2\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 1\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS5_BAUD1: NET\_PASS5\_BAUD1: Endpoint 1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 1\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS5_BAUD2: NET\_PASS5\_BAUD2: Endpoint 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 2\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS5_OPT1: NET\_PASS5\_OPT1: Serial Port Options EP1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 1\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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) | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _NET_PASS5_OPT2: NET\_PASS5\_OPT2: Serial Port Options EP2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 2\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_NET_PASS6_: NET\_PASS6\_ Parameters ----------------------- .. _NET_PASS6_ENABLE: NET\_PASS6\_ENABLE: Enable Passthrough ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Passthrough of any UART\, Network\, or CAN ports to any UART\, Network\, or CAN ports\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _NET_PASS6_EP1: NET\_PASS6\_EP1: Endpoint 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 1\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 2\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS6_EP2: NET\_PASS6\_EP2: Endpoint 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 2\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 1\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS6_BAUD1: NET\_PASS6\_BAUD1: Endpoint 1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 1\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS6_BAUD2: NET\_PASS6\_BAUD2: Endpoint 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 2\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS6_OPT1: NET\_PASS6\_OPT1: Serial Port Options EP1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 1\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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) | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _NET_PASS6_OPT2: NET\_PASS6\_OPT2: Serial Port Options EP2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 2\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_NET_PASS7_: NET\_PASS7\_ Parameters ----------------------- .. _NET_PASS7_ENABLE: NET\_PASS7\_ENABLE: Enable Passthrough ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Passthrough of any UART\, Network\, or CAN ports to any UART\, Network\, or CAN ports\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _NET_PASS7_EP1: NET\_PASS7\_EP1: Endpoint 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 1\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 2\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS7_EP2: NET\_PASS7\_EP2: Endpoint 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 2\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 1\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS7_BAUD1: NET\_PASS7\_BAUD1: Endpoint 1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 1\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS7_BAUD2: NET\_PASS7\_BAUD2: Endpoint 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 2\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS7_OPT1: NET\_PASS7\_OPT1: Serial Port Options EP1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 1\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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) | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _NET_PASS7_OPT2: NET\_PASS7\_OPT2: Serial Port Options EP2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 2\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_NET_PASS8_: NET\_PASS8\_ Parameters ----------------------- .. _NET_PASS8_ENABLE: NET\_PASS8\_ENABLE: Enable Passthrough ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Passthrough of any UART\, Network\, or CAN ports to any UART\, Network\, or CAN ports\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _NET_PASS8_EP1: NET\_PASS8\_EP1: Endpoint 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 1\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 2\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS8_EP2: NET\_PASS8\_EP2: Endpoint 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 2\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 1\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS8_BAUD1: NET\_PASS8\_BAUD1: Endpoint 1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 1\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS8_BAUD2: NET\_PASS8\_BAUD2: Endpoint 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 2\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS8_OPT1: NET\_PASS8\_OPT1: Serial Port Options EP1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 1\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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) | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _NET_PASS8_OPT2: NET\_PASS8\_OPT2: Serial Port Options EP2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 2\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_NET_PASS9_: NET\_PASS9\_ Parameters ----------------------- .. _NET_PASS9_ENABLE: NET\_PASS9\_ENABLE: Enable Passthrough ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Passthrough of any UART\, Network\, or CAN ports to any UART\, Network\, or CAN ports\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _NET_PASS9_EP1: NET\_PASS9\_EP1: Endpoint 1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 1\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 2\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS9_EP2: NET\_PASS9\_EP2: Endpoint 2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Passthrough Endpoint 2\. This can be a serial port UART\, a Network port\, or a CAN port\. The selected port will route to Endport 1\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | -1 | Disabled | | | +-------+----------------------+ | | | 0 | Serial0(usually USB) | | | +-------+----------------------+ | | | 1 | Serial1 | | | +-------+----------------------+ | | | 2 | Serial2 | | | +-------+----------------------+ | | | 3 | Serial3 | | | +-------+----------------------+ | | | 4 | Serial4 | | | +-------+----------------------+ | | | 5 | Serial5 | | | +-------+----------------------+ | | | 6 | Serial6 | | | +-------+----------------------+ | | | 7 | Serial7 | | | +-------+----------------------+ | | | 8 | Serial8 | | | +-------+----------------------+ | | | 9 | Serial9 | | | +-------+----------------------+ | | | 21 | Network Port1 | | | +-------+----------------------+ | | | 22 | Network Port2 | | | +-------+----------------------+ | | | 23 | Network Port3 | | | +-------+----------------------+ | | | 24 | Network Port4 | | | +-------+----------------------+ | | | 25 | Network Port5 | | | +-------+----------------------+ | | | 26 | Network Port6 | | | +-------+----------------------+ | | | 27 | Network Port7 | | | +-------+----------------------+ | | | 28 | Network Port8 | | | +-------+----------------------+ | | | 29 | Network Port9 | | | +-------+----------------------+ | | | 41 | CAN1 Port1 | | | +-------+----------------------+ | | | 42 | CAN1 Port2 | | | +-------+----------------------+ | | | 43 | CAN1 Port3 | | | +-------+----------------------+ | | | 44 | CAN1 Port4 | | | +-------+----------------------+ | | | 45 | CAN1 Port5 | | | +-------+----------------------+ | | | 46 | CAN1 Port6 | | | +-------+----------------------+ | | | 47 | CAN1 Port7 | | | +-------+----------------------+ | | | 48 | CAN1 Port8 | | | +-------+----------------------+ | | | 49 | CAN1 Port9 | | | +-------+----------------------+ | | | 51 | CAN2 Port1 | | | +-------+----------------------+ | | | 52 | CAN2 Port2 | | | +-------+----------------------+ | | | 53 | CAN2 Port3 | | | +-------+----------------------+ | | | 54 | CAN2 Port4 | | | +-------+----------------------+ | | | 55 | CAN2 Port5 | | | +-------+----------------------+ | | | 56 | CAN2 Port6 | | | +-------+----------------------+ | | | 57 | CAN2 Port7 | | | +-------+----------------------+ | | | 58 | CAN2 Port8 | | | +-------+----------------------+ | | | 59 | CAN2 Port9 | | | +-------+----------------------+ | | | +----------------------------------+ .. _NET_PASS9_BAUD1: NET\_PASS9\_BAUD1: Endpoint 1 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 1\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS9_BAUD2: NET\_PASS9\_BAUD2: Endpoint 2 Baud Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The baud rate used for Endpoint 2\. Only applies to serial ports\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _NET_PASS9_OPT1: NET\_PASS9\_OPT1: Serial Port Options EP1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 1\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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) | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _NET_PASS9_OPT2: NET\_PASS9\_OPT2: Serial Port Options EP2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Control over UART options for Endpoint 2\. Only applies to serial ports\. +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_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 +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Bitmask | +===========================+ | +-----+-----------------+ | | | 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\. +-----------------------------------------+ | Values | +=========================================+ | +-------+-----------------------------+ | | | 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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +-------------------------------+ | Bitmask | +===============================+ | +-----+---------------------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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_Node: Node Parameters --------------- .. _Node_BOOTCNT: Node\_BOOTCNT: Boot Count ~~~~~~~~~~~~~~~~~~~~~~~~~ Number of times board has been booted +----------+ | ReadOnly | +==========+ | True | +----------+ .. _Node_FLTTIME: Node\_FLTTIME: Total FlightTime ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total FlightTime \(seconds\) +----------+---------+ | ReadOnly | Units | +==========+=========+ | True | seconds | +----------+---------+ .. _Node_RUNTIME: Node\_RUNTIME: Total RunTime ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total time autopilot has run +----------+---------+ | ReadOnly | Units | +==========+=========+ | True | seconds | +----------+---------+ .. _Node_RESET: Node\_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 | +----------+---------+ .. _Node_FLTCNT: Node\_FLTCNT: Total Flight Count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total number of flights +----------+ | ReadOnly | +==========+ | True | +----------+ .. _Node_DISTFLWN: Node\_DISTFLWN: Total Distance Flown ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Estimate of total distance flown since statistics reset +----------+--------+ | ReadOnly | Units | +==========+========+ | True | meters | +----------+--------+ .. _parameters_OUT: OUT Parameters -------------- .. _OUT_RATE: OUT\_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 | +-----------+-------+ .. _OUT_DSHOT_RATE: OUT\_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\. +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | Value | Meaning | | | +=======+=====================+ | | | 0 | 1Khz | | | +-------+---------------------+ | | | 1 | loop-rate | | | +-------+---------------------+ | | | 2 | double loop-rate | | | +-------+---------------------+ | | | 3 | triple loop-rate | | | +-------+---------------------+ | | | 4 | quadruple loop rate | | | +-------+---------------------+ | | | +---------------------------------+ .. _OUT_DSHOT_ESC: OUT\_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\. +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | Value | Meaning | | | +=======+========================+ | | | 0 | None | | | +-------+------------------------+ | | | 1 | BLHeli32/Kiss/AM32 | | | +-------+------------------------+ | | | 2 | BLHeli_S/BlueJay | | | +-------+------------------------+ | | | 3 | BLHeli32/AM32/Kiss+EDT | | | +-------+------------------------+ | | | 4 | BLHeli_S/BlueJay+EDT | | | +-------+------------------------+ | | | +------------------------------------+ .. _OUT_GPIO_MASK: OUT\_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 +--------------------+ | Bitmask | +====================+ | +-----+----------+ | | | 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 | | | +-----+----------+ | | | +--------------------+ .. _OUT_RC_FS_MSK: OUT\_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\. +-------------------------+ | Bitmask | +=========================+ | +-----+---------------+ | | | 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 | | | +-----+---------------+ | | | +-------------------------+ .. _OUT_32_ENABLE: OUT\_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _parameters_OUT1_: OUT1\_ Parameters ----------------- .. _OUT1_MIN: OUT1\_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 | +-----------+-------------+---------------------+ .. _OUT1_MAX: OUT1\_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 | +-----------+-------------+---------------------+ .. _OUT1_TRIM: OUT1\_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 | +-----------+-------------+---------------------+ .. _OUT1_REVERSED: OUT1\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT1_FUNCTION: OUT1\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT2_: OUT2\_ Parameters ----------------- .. _OUT2_MIN: OUT2\_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 | +-----------+-------------+---------------------+ .. _OUT2_MAX: OUT2\_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 | +-----------+-------------+---------------------+ .. _OUT2_TRIM: OUT2\_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 | +-----------+-------------+---------------------+ .. _OUT2_REVERSED: OUT2\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT2_FUNCTION: OUT2\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT3_: OUT3\_ Parameters ----------------- .. _OUT3_MIN: OUT3\_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 | +-----------+-------------+---------------------+ .. _OUT3_MAX: OUT3\_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 | +-----------+-------------+---------------------+ .. _OUT3_TRIM: OUT3\_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 | +-----------+-------------+---------------------+ .. _OUT3_REVERSED: OUT3\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT3_FUNCTION: OUT3\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT4_: OUT4\_ Parameters ----------------- .. _OUT4_MIN: OUT4\_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 | +-----------+-------------+---------------------+ .. _OUT4_MAX: OUT4\_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 | +-----------+-------------+---------------------+ .. _OUT4_TRIM: OUT4\_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 | +-----------+-------------+---------------------+ .. _OUT4_REVERSED: OUT4\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT4_FUNCTION: OUT4\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT5_: OUT5\_ Parameters ----------------- .. _OUT5_MIN: OUT5\_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 | +-----------+-------------+---------------------+ .. _OUT5_MAX: OUT5\_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 | +-----------+-------------+---------------------+ .. _OUT5_TRIM: OUT5\_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 | +-----------+-------------+---------------------+ .. _OUT5_REVERSED: OUT5\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT5_FUNCTION: OUT5\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT6_: OUT6\_ Parameters ----------------- .. _OUT6_MIN: OUT6\_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 | +-----------+-------------+---------------------+ .. _OUT6_MAX: OUT6\_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 | +-----------+-------------+---------------------+ .. _OUT6_TRIM: OUT6\_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 | +-----------+-------------+---------------------+ .. _OUT6_REVERSED: OUT6\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT6_FUNCTION: OUT6\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT7_: OUT7\_ Parameters ----------------- .. _OUT7_MIN: OUT7\_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 | +-----------+-------------+---------------------+ .. _OUT7_MAX: OUT7\_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 | +-----------+-------------+---------------------+ .. _OUT7_TRIM: OUT7\_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 | +-----------+-------------+---------------------+ .. _OUT7_REVERSED: OUT7\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT7_FUNCTION: OUT7\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT8_: OUT8\_ Parameters ----------------- .. _OUT8_MIN: OUT8\_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 | +-----------+-------------+---------------------+ .. _OUT8_MAX: OUT8\_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 | +-----------+-------------+---------------------+ .. _OUT8_TRIM: OUT8\_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 | +-----------+-------------+---------------------+ .. _OUT8_REVERSED: OUT8\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT8_FUNCTION: OUT8\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT9_: OUT9\_ Parameters ----------------- .. _OUT9_MIN: OUT9\_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 | +-----------+-------------+---------------------+ .. _OUT9_MAX: OUT9\_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 | +-----------+-------------+---------------------+ .. _OUT9_TRIM: OUT9\_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 | +-----------+-------------+---------------------+ .. _OUT9_REVERSED: OUT9\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT9_FUNCTION: OUT9\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT10_: OUT10\_ Parameters ------------------ .. _OUT10_MIN: OUT10\_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 | +-----------+-------------+---------------------+ .. _OUT10_MAX: OUT10\_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 | +-----------+-------------+---------------------+ .. _OUT10_TRIM: OUT10\_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 | +-----------+-------------+---------------------+ .. _OUT10_REVERSED: OUT10\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT10_FUNCTION: OUT10\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT11_: OUT11\_ Parameters ------------------ .. _OUT11_MIN: OUT11\_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 | +-----------+-------------+---------------------+ .. _OUT11_MAX: OUT11\_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 | +-----------+-------------+---------------------+ .. _OUT11_TRIM: OUT11\_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 | +-----------+-------------+---------------------+ .. _OUT11_REVERSED: OUT11\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT11_FUNCTION: OUT11\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT12_: OUT12\_ Parameters ------------------ .. _OUT12_MIN: OUT12\_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 | +-----------+-------------+---------------------+ .. _OUT12_MAX: OUT12\_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 | +-----------+-------------+---------------------+ .. _OUT12_TRIM: OUT12\_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 | +-----------+-------------+---------------------+ .. _OUT12_REVERSED: OUT12\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT12_FUNCTION: OUT12\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT13_: OUT13\_ Parameters ------------------ .. _OUT13_MIN: OUT13\_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 | +-----------+-------------+---------------------+ .. _OUT13_MAX: OUT13\_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 | +-----------+-------------+---------------------+ .. _OUT13_TRIM: OUT13\_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 | +-----------+-------------+---------------------+ .. _OUT13_REVERSED: OUT13\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT13_FUNCTION: OUT13\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT14_: OUT14\_ Parameters ------------------ .. _OUT14_MIN: OUT14\_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 | +-----------+-------------+---------------------+ .. _OUT14_MAX: OUT14\_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 | +-----------+-------------+---------------------+ .. _OUT14_TRIM: OUT14\_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 | +-----------+-------------+---------------------+ .. _OUT14_REVERSED: OUT14\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT14_FUNCTION: OUT14\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT15_: OUT15\_ Parameters ------------------ .. _OUT15_MIN: OUT15\_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 | +-----------+-------------+---------------------+ .. _OUT15_MAX: OUT15\_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 | +-----------+-------------+---------------------+ .. _OUT15_TRIM: OUT15\_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 | +-----------+-------------+---------------------+ .. _OUT15_REVERSED: OUT15\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT15_FUNCTION: OUT15\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT16_: OUT16\_ Parameters ------------------ .. _OUT16_MIN: OUT16\_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 | +-----------+-------------+---------------------+ .. _OUT16_MAX: OUT16\_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 | +-----------+-------------+---------------------+ .. _OUT16_TRIM: OUT16\_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 | +-----------+-------------+---------------------+ .. _OUT16_REVERSED: OUT16\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT16_FUNCTION: OUT16\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT17_: OUT17\_ Parameters ------------------ .. _OUT17_MIN: OUT17\_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 | +-----------+-------------+---------------------+ .. _OUT17_MAX: OUT17\_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 | +-----------+-------------+---------------------+ .. _OUT17_TRIM: OUT17\_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 | +-----------+-------------+---------------------+ .. _OUT17_REVERSED: OUT17\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT17_FUNCTION: OUT17\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT18_: OUT18\_ Parameters ------------------ .. _OUT18_MIN: OUT18\_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 | +-----------+-------------+---------------------+ .. _OUT18_MAX: OUT18\_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 | +-----------+-------------+---------------------+ .. _OUT18_TRIM: OUT18\_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 | +-----------+-------------+---------------------+ .. _OUT18_REVERSED: OUT18\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT18_FUNCTION: OUT18\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT19_: OUT19\_ Parameters ------------------ .. _OUT19_MIN: OUT19\_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 | +-----------+-------------+---------------------+ .. _OUT19_MAX: OUT19\_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 | +-----------+-------------+---------------------+ .. _OUT19_TRIM: OUT19\_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 | +-----------+-------------+---------------------+ .. _OUT19_REVERSED: OUT19\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT19_FUNCTION: OUT19\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT20_: OUT20\_ Parameters ------------------ .. _OUT20_MIN: OUT20\_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 | +-----------+-------------+---------------------+ .. _OUT20_MAX: OUT20\_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 | +-----------+-------------+---------------------+ .. _OUT20_TRIM: OUT20\_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 | +-----------+-------------+---------------------+ .. _OUT20_REVERSED: OUT20\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT20_FUNCTION: OUT20\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT21_: OUT21\_ Parameters ------------------ .. _OUT21_MIN: OUT21\_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 | +-----------+-------------+---------------------+ .. _OUT21_MAX: OUT21\_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 | +-----------+-------------+---------------------+ .. _OUT21_TRIM: OUT21\_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 | +-----------+-------------+---------------------+ .. _OUT21_REVERSED: OUT21\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT21_FUNCTION: OUT21\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT22_: OUT22\_ Parameters ------------------ .. _OUT22_MIN: OUT22\_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 | +-----------+-------------+---------------------+ .. _OUT22_MAX: OUT22\_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 | +-----------+-------------+---------------------+ .. _OUT22_TRIM: OUT22\_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 | +-----------+-------------+---------------------+ .. _OUT22_REVERSED: OUT22\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT22_FUNCTION: OUT22\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT23_: OUT23\_ Parameters ------------------ .. _OUT23_MIN: OUT23\_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 | +-----------+-------------+---------------------+ .. _OUT23_MAX: OUT23\_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 | +-----------+-------------+---------------------+ .. _OUT23_TRIM: OUT23\_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 | +-----------+-------------+---------------------+ .. _OUT23_REVERSED: OUT23\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT23_FUNCTION: OUT23\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT24_: OUT24\_ Parameters ------------------ .. _OUT24_MIN: OUT24\_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 | +-----------+-------------+---------------------+ .. _OUT24_MAX: OUT24\_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 | +-----------+-------------+---------------------+ .. _OUT24_TRIM: OUT24\_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 | +-----------+-------------+---------------------+ .. _OUT24_REVERSED: OUT24\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT24_FUNCTION: OUT24\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT25_: OUT25\_ Parameters ------------------ .. _OUT25_MIN: OUT25\_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 | +-----------+-------------+---------------------+ .. _OUT25_MAX: OUT25\_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 | +-----------+-------------+---------------------+ .. _OUT25_TRIM: OUT25\_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 | +-----------+-------------+---------------------+ .. _OUT25_REVERSED: OUT25\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT25_FUNCTION: OUT25\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT26_: OUT26\_ Parameters ------------------ .. _OUT26_MIN: OUT26\_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 | +-----------+-------------+---------------------+ .. _OUT26_MAX: OUT26\_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 | +-----------+-------------+---------------------+ .. _OUT26_TRIM: OUT26\_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 | +-----------+-------------+---------------------+ .. _OUT26_REVERSED: OUT26\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT26_FUNCTION: OUT26\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT27_: OUT27\_ Parameters ------------------ .. _OUT27_MIN: OUT27\_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 | +-----------+-------------+---------------------+ .. _OUT27_MAX: OUT27\_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 | +-----------+-------------+---------------------+ .. _OUT27_TRIM: OUT27\_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 | +-----------+-------------+---------------------+ .. _OUT27_REVERSED: OUT27\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT27_FUNCTION: OUT27\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT28_: OUT28\_ Parameters ------------------ .. _OUT28_MIN: OUT28\_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 | +-----------+-------------+---------------------+ .. _OUT28_MAX: OUT28\_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 | +-----------+-------------+---------------------+ .. _OUT28_TRIM: OUT28\_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 | +-----------+-------------+---------------------+ .. _OUT28_REVERSED: OUT28\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT28_FUNCTION: OUT28\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT29_: OUT29\_ Parameters ------------------ .. _OUT29_MIN: OUT29\_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 | +-----------+-------------+---------------------+ .. _OUT29_MAX: OUT29\_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 | +-----------+-------------+---------------------+ .. _OUT29_TRIM: OUT29\_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 | +-----------+-------------+---------------------+ .. _OUT29_REVERSED: OUT29\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT29_FUNCTION: OUT29\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT30_: OUT30\_ Parameters ------------------ .. _OUT30_MIN: OUT30\_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 | +-----------+-------------+---------------------+ .. _OUT30_MAX: OUT30\_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 | +-----------+-------------+---------------------+ .. _OUT30_TRIM: OUT30\_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 | +-----------+-------------+---------------------+ .. _OUT30_REVERSED: OUT30\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT30_FUNCTION: OUT30\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT31_: OUT31\_ Parameters ------------------ .. _OUT31_MIN: OUT31\_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 | +-----------+-------------+---------------------+ .. _OUT31_MAX: OUT31\_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 | +-----------+-------------+---------------------+ .. _OUT31_TRIM: OUT31\_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 | +-----------+-------------+---------------------+ .. _OUT31_REVERSED: OUT31\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT31_FUNCTION: OUT31\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT32_: OUT32\_ Parameters ------------------ .. _OUT32_MIN: OUT32\_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 | +-----------+-------------+---------------------+ .. _OUT32_MAX: OUT32\_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 | +-----------+-------------+---------------------+ .. _OUT32_TRIM: OUT32\_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 | +-----------+-------------+---------------------+ .. _OUT32_REVERSED: OUT32\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _OUT32_FUNCTION: OUT32\_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 +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | -1 | GPIO | | | +-------+---------------------------+ | | | 0 | Disabled | | | +-------+---------------------------+ | | | 1 | RCPassThru | | | +-------+---------------------------+ | | | 2 | Flap | | | +-------+---------------------------+ | | | 3 | FlapAuto | | | +-------+---------------------------+ | | | 4 | Aileron | | | +-------+---------------------------+ | | | 6 | Mount1Yaw | | | +-------+---------------------------+ | | | 7 | Mount1Pitch | | | +-------+---------------------------+ | | | 8 | Mount1Roll | | | +-------+---------------------------+ | | | 9 | Mount1Retract | | | +-------+---------------------------+ | | | 10 | CameraTrigger | | | +-------+---------------------------+ | | | 12 | Mount2Yaw | | | +-------+---------------------------+ | | | 13 | Mount2Pitch | | | +-------+---------------------------+ | | | 14 | Mount2Roll | | | +-------+---------------------------+ | | | 15 | Mount2Retract | | | +-------+---------------------------+ | | | 16 | DifferentialSpoilerLeft1 | | | +-------+---------------------------+ | | | 17 | DifferentialSpoilerRight1 | | | +-------+---------------------------+ | | | 19 | Elevator | | | +-------+---------------------------+ | | | 21 | Rudder | | | +-------+---------------------------+ | | | 22 | SprayerPump | | | +-------+---------------------------+ | | | 23 | SprayerSpinner | | | +-------+---------------------------+ | | | 24 | FlaperonLeft | | | +-------+---------------------------+ | | | 25 | FlaperonRight | | | +-------+---------------------------+ | | | 26 | GroundSteering | | | +-------+---------------------------+ | | | 27 | Parachute | | | +-------+---------------------------+ | | | 28 | Gripper | | | +-------+---------------------------+ | | | 29 | LandingGear | | | +-------+---------------------------+ | | | 30 | EngineRunEnable | | | +-------+---------------------------+ | | | 31 | HeliRSC | | | +-------+---------------------------+ | | | 32 | HeliTailRSC | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7 | | | +-------+---------------------------+ | | | 40 | Motor8 | | | +-------+---------------------------+ | | | 41 | TiltMotorsFront | | | +-------+---------------------------+ | | | 45 | TiltMotorsRear | | | +-------+---------------------------+ | | | 46 | TiltMotorRearLeft | | | +-------+---------------------------+ | | | 47 | TiltMotorRearRight | | | +-------+---------------------------+ | | | 51 | RCIN1 | | | +-------+---------------------------+ | | | 52 | RCIN2 | | | +-------+---------------------------+ | | | 53 | RCIN3 | | | +-------+---------------------------+ | | | 54 | RCIN4 | | | +-------+---------------------------+ | | | 55 | RCIN5 | | | +-------+---------------------------+ | | | 56 | RCIN6 | | | +-------+---------------------------+ | | | 57 | RCIN7 | | | +-------+---------------------------+ | | | 58 | RCIN8 | | | +-------+---------------------------+ | | | 59 | RCIN9 | | | +-------+---------------------------+ | | | 60 | RCIN10 | | | +-------+---------------------------+ | | | 61 | RCIN11 | | | +-------+---------------------------+ | | | 62 | RCIN12 | | | +-------+---------------------------+ | | | 63 | RCIN13 | | | +-------+---------------------------+ | | | 64 | RCIN14 | | | +-------+---------------------------+ | | | 65 | RCIN15 | | | +-------+---------------------------+ | | | 66 | RCIN16 | | | +-------+---------------------------+ | | | 67 | Ignition | | | +-------+---------------------------+ | | | 69 | Starter | | | +-------+---------------------------+ | | | 70 | Throttle | | | +-------+---------------------------+ | | | 71 | TrackerYaw | | | +-------+---------------------------+ | | | 72 | TrackerPitch | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 81 | BoostThrottle | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 180 | CameraZoom | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_OUT_BLH_: OUT\_BLH\_ Parameters --------------------- .. _OUT_BLH_MASK: OUT\_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 \(if any\) +----------------------+ | Bitmask | +======================+ | +-----+------------+ | | | 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 | | | +-----+------------+ | | | +----------------------+ .. _OUT_BLH_AUTO: OUT\_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OUT_BLH_TEST: OUT\_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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | TestMotor1 | | | +-------+------------+ | | | 2 | TestMotor2 | | | +-------+------------+ | | | 3 | TestMotor3 | | | +-------+------------+ | | | 4 | TestMotor4 | | | +-------+------------+ | | | 5 | TestMotor5 | | | +-------+------------+ | | | 6 | TestMotor6 | | | +-------+------------+ | | | 7 | TestMotor7 | | | +-------+------------+ | | | 8 | TestMotor8 | | | +-------+------------+ | | | +------------------------+ .. _OUT_BLH_TMOUT: OUT\_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 | +----------+---------+ .. _OUT_BLH_TRATE: OUT\_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 | +----------+-------+ .. _OUT_BLH_DEBUG: OUT\_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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OUT_BLH_OTYPE: OUT\_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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | None | | | +-------+------------+ | | | 1 | OneShot | | | +-------+------------+ | | | 2 | OneShot125 | | | +-------+------------+ | | | 3 | Brushed | | | +-------+------------+ | | | 4 | DShot150 | | | +-------+------------+ | | | 5 | DShot300 | | | +-------+------------+ | | | 6 | DShot600 | | | +-------+------------+ | | | 7 | DShot1200 | | | +-------+------------+ | | | +------------------------+ .. _OUT_BLH_PORT: OUT\_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\. +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | Value | Meaning | | | +=======+=========================+ | | | 0 | Console | | | +-------+-------------------------+ | | | 1 | Mavlink Serial Channel1 | | | +-------+-------------------------+ | | | 2 | Mavlink Serial Channel2 | | | +-------+-------------------------+ | | | 3 | Mavlink Serial Channel3 | | | +-------+-------------------------+ | | | 4 | Mavlink Serial Channel4 | | | +-------+-------------------------+ | | | 5 | Mavlink Serial Channel5 | | | +-------+-------------------------+ | | | +-------------------------------------+ .. _OUT_BLH_POLES: OUT\_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 | +----------+ .. _OUT_BLH_3DMASK: OUT\_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\. +----------------------+ | Bitmask | +======================+ | +-----+------------+ | | | 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 | | | +-----+------------+ | | | +----------------------+ .. _OUT_BLH_BDMASK: OUT\_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\. +----------------------+ | Bitmask | +======================+ | +-----+------------+ | | | 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 | | | +-----+------------+ | | | +----------------------+ .. _OUT_BLH_RVMASK: OUT\_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\. +----------------------+ | Bitmask | +======================+ | +-----+------------+ | | | 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_OUT_FTW_: OUT\_FTW\_ Parameters --------------------- .. _OUT_FTW_MASK: OUT\_FTW\_MASK: Servo channel output bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Servo channel mask specifying FETtec ESC output\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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 | | | +-----+---------+ | | | +-------------------+ .. _OUT_FTW_RVMASK: OUT\_FTW\_RVMASK: Servo channel reverse rotation bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo channel mask to reverse rotation of FETtec ESC outputs\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | 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 | | | +-----+---------+ | | | +-------------------+ .. _OUT_FTW_POLES: OUT\_FTW\_POLES: Nr\. electrical poles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of motor electrical poles +---------+ | Range | +=========+ | 2 to 50 | +---------+ .. _parameters_OUT_ROB_: OUT\_ROB\_ Parameters --------------------- .. _OUT_ROB_POSMIN: OUT\_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 | +-----------+ .. _OUT_ROB_POSMAX: OUT\_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_OUT_SBUS_: OUT\_SBUS\_ Parameters ---------------------- .. _OUT_SBUS_RATE: OUT\_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_OUT_VOLZ_: OUT\_VOLZ\_ Parameters ---------------------- .. _OUT_VOLZ_MASK: OUT\_VOLZ\_MASK: Channel Bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable of volz servo protocol to specific channels +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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 | | | +-----+-----------+ | | | +---------------------+ .. _OUT_VOLZ_RANGE: OUT\_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_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 +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | 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 +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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 +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | 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 +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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 +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | 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 +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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 +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | 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 +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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 +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | 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 +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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_RC: RC Parameters ------------- .. _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\. +--------------------+ | Bitmask | +====================+ | +-----+----------+ | | | 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 | | | +-----+----------+ | | | +--------------------+ .. _RC_MSGRATE: RC\_MSGRATE: DroneCAN RC Message rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Rate at which RC input is sent via DroneCAN +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 255 | hertz | +-----------+----------+-------+ .. _RC1_PORT: RC1\_PORT: RC input port ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the serial port number where SERIALx\_PROTOCOL will be set to RC input\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _RC1_PORT_OPTIONS: RC1\_PORT\_OPTIONS: RC input port serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _parameters_RELAY1_: RELAY1\_ Parameters ------------------- .. _RELAY1_FUNCTION: RELAY1\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY2_: RELAY2\_ Parameters ------------------- .. _RELAY2_FUNCTION: RELAY2\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY3_: RELAY3\_ Parameters ------------------- .. _RELAY3_FUNCTION: RELAY3\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY4_: RELAY4\_ Parameters ------------------- .. _RELAY4_FUNCTION: RELAY4\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY5_: RELAY5\_ Parameters ------------------- .. _RELAY5_FUNCTION: RELAY5\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY6_: RELAY6\_ Parameters ------------------- .. _RELAY6_FUNCTION: RELAY6\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY7_: RELAY7\_ Parameters ------------------- .. _RELAY7_FUNCTION: RELAY7\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY8_: RELAY8\_ Parameters ------------------- .. _RELAY8_FUNCTION: RELAY8\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY9_: RELAY9\_ Parameters ------------------- .. _RELAY9_FUNCTION: RELAY9\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY10_: RELAY10\_ Parameters -------------------- .. _RELAY10_FUNCTION: RELAY10\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY11_: RELAY11\_ Parameters -------------------- .. _RELAY11_FUNCTION: RELAY11\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY12_: RELAY12\_ Parameters -------------------- .. _RELAY12_FUNCTION: RELAY12\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY13_: RELAY13\_ Parameters -------------------- .. _RELAY13_FUNCTION: RELAY13\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY14_: RELAY14\_ Parameters -------------------- .. _RELAY14_FUNCTION: RELAY14\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY15_: RELAY15\_ Parameters -------------------- .. _RELAY15_FUNCTION: RELAY15\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Inverted | | | +-------+----------+ | | | +----------------------+ .. _parameters_RELAY16_: RELAY16\_ Parameters -------------------- .. _RELAY16_FUNCTION: RELAY16\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 10 | DroneCAN Hardpoint ID 0 | | | +-------+--------------------------+ | | | 11 | DroneCAN Hardpoint ID 1 | | | +-------+--------------------------+ | | | 12 | DroneCAN Hardpoint ID 2 | | | +-------+--------------------------+ | | | 13 | DroneCAN Hardpoint ID 3 | | | +-------+--------------------------+ | | | 14 | DroneCAN Hardpoint ID 4 | | | +-------+--------------------------+ | | | 15 | DroneCAN Hardpoint ID 5 | | | +-------+--------------------------+ | | | 16 | DroneCAN Hardpoint ID 6 | | | +-------+--------------------------+ | | | 17 | DroneCAN Hardpoint ID 7 | | | +-------+--------------------------+ | | | 18 | DroneCAN Hardpoint ID 8 | | | +-------+--------------------------+ | | | 19 | DroneCAN Hardpoint ID 9 | | | +-------+--------------------------+ | | | 20 | DroneCAN Hardpoint ID 10 | | | +-------+--------------------------+ | | | 21 | DroneCAN Hardpoint ID 11 | | | +-------+--------------------------+ | | | 22 | DroneCAN Hardpoint ID 12 | | | +-------+--------------------------+ | | | 23 | DroneCAN Hardpoint ID 13 | | | +-------+--------------------------+ | | | 24 | DroneCAN Hardpoint ID 14 | | | +-------+--------------------------+ | | | 25 | DroneCAN Hardpoint ID 15 | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _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\. +------------+--------------------------------------+ | Range | Values | +============+======================================+ | -1 to 1015 | +-------+--------------------------+ | | | | 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 | | | | +-------+--------------------------+ | | | | +------------+--------------------------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | 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\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | 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 | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _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\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +-----------+----------------------------+ | Range | Values | +===========+============================+ | -1 to 127 | +-------+----------------+ | | | | 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 | | | | +-------+----------------+ | | | | +-----------+----------------------------+ .. _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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | 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 +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------+ | Values | +========================+ | +-------+------------+ | | | 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\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | 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 +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUX1 | | | | +-------+----------+ | | | | 51 | AUX2 | | | | +-------+----------+ | | | | 52 | AUX3 | | | | +-------+----------+ | | | | 53 | AUX4 | | | | +-------+----------+ | | | | 54 | AUX5 | | | | +-------+----------+ | | | | 55 | AUX6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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 +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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 send as on AP\-Periph \-1 disables +-----------+----------+ | 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 +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUX1 | | | | +-------+----------+ | | | | 51 | AUX2 | | | | +-------+----------+ | | | | 52 | AUX3 | | | | +-------+----------+ | | | | 53 | AUX4 | | | | +-------+----------+ | | | | 54 | AUX5 | | | | +-------+----------+ | | | | 55 | AUX6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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 +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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 send as on AP\-Periph \-1 disables +-----------+----------+ | 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 +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUX1 | | | | +-------+----------+ | | | | 51 | AUX2 | | | | +-------+----------+ | | | | 52 | AUX3 | | | | +-------+----------+ | | | | 53 | AUX4 | | | | +-------+----------+ | | | | 54 | AUX5 | | | | +-------+----------+ | | | | 55 | AUX6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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 +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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 send as on AP\-Periph \-1 disables +-----------+----------+ | 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 +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | 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\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUX1 | | | | +-------+----------+ | | | | 51 | AUX2 | | | | +-------+----------+ | | | | 52 | AUX3 | | | | +-------+----------+ | | | | 53 | AUX4 | | | | +-------+----------+ | | | | 54 | AUX5 | | | | +-------+----------+ | | | | 55 | AUX6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _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 +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | 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 send as on AP\-Periph \-1 disables +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -1 to 10 | +-----------+----------+ .. _parameters_RTC: RTC Parameters -------------- .. _RTC_TYPES: RTC\_TYPES: Allowed sources of RTC time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies which sources of UTC time will be accepted +-------------------------------+ | Bitmask | +===============================+ | +-----+---------------------+ | | | Bit | Meaning | | | +=====+=====================+ | | | 0 | GPS | | | +-----+---------------------+ | | | 1 | MAVLINK_SYSTEM_TIME | | | +-----+---------------------+ | | | 2 | HW | | | +-----+---------------------+ | | | +-------------------------------+ .. _RTC_TZ_MIN: 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_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 +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | 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 +--------------------------------------------------------------------------------------------------+ | Bitmask | +==================================================================================================+ | +-----+----------------------------------------------------------------------------------------+ | | | 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 +-----------------------+ | Bitmask | +=======================+ | +-----+-------------+ | | | 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\. +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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 +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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 +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _SERIAL0_PROTOCOL: SERIAL0\_PROTOCOL: Console protocol selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Control what protocol to use on the console\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _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\. +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _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\. +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _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\. +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _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\. +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _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\. +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _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\! +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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\! +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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\! +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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\! +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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\! +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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\! +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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\. +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _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\! +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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\. +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _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\! +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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\. +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | 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\. +---------------+--------------------------+ | Range | Values | +===============+==========================+ | 1 to 20000000 | +----------+-----------+ | | | | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _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\! +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | 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_sim: Simulation Parameters --------------------- .. _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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_ACCEL1_FAIL: SIM\_ACCEL1\_FAIL: ACCEL1 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of ACCEL1 +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | 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 +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | 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 +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | Value | Meaning | | | +=======+================+ | | | 0 | Disabled | | | +-------+----------------+ | | | 1 | ACCEL3 Failure | | | +-------+----------------+ | | | +----------------------------+ .. _SIM_ACCEL4_FAIL: SIM\_ACCEL4\_FAIL: ACCEL4 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of ACCEL4 +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | Value | Meaning | | | +=======+================+ | | | 0 | Disabled | | | +-------+----------------+ | | | 1 | ACCEL4 Failure | | | +-------+----------------+ | | | +----------------------------+ .. _SIM_ACCEL5_FAIL: SIM\_ACCEL5\_FAIL: ACCEL5 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of ACCEL5 +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | Value | Meaning | | | +=======+================+ | | | 0 | Disabled | | | +-------+----------------+ | | | 1 | ACCEL5 Failure | | | +-------+----------------+ | | | +----------------------------+ .. _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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | Disabled | | | +-------+------------------+ | | | 1 | Readings stopped | | | +-------+------------------+ | | | +------------------------------+ .. _SIM_ACC_FILE_RW: SIM\_ACC\_FILE\_RW: Accelerometer data to\/from files ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Read and write accelerometer data to\/from files +-------------------------------------------------+ | Values | +=================================================+ | +-------+-------------------------------------+ | | | 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_ADSB_ALT: SIM\_ADSB\_ALT: ADSB altitude of another aircraft ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Simulated ADSB altitude of another aircraft +--------+ | Units | +========+ | meters | +--------+ .. _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_TX: SIM\_ADSB\_TX: ADSB transmit enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ADSB transceiever enable and disable +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | 0 | Transceiever disable | | | +-------+----------------------+ | | | 1 | Transceiever enable | | | +-------+----------------------+ | | | +----------------------------------+ .. _SIM_ADSB_TYPES: SIM\_ADSB\_TYPES: Simulated ADSB Type mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* specifies which simulated ADSB types are active +-----------------------+ | Bitmask | +=======================+ | +-----+-------------+ | | | Bit | Meaning | | | +=====+=============+ | | | 0 | MAVLink | | | +-----+-------------+ | | | 3 | SageTechMXS | | | +-----+-------------+ | | | +-----------------------+ .. _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_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_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_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_FAIL: SIM\_ARSPD2\_FAIL: Airspeed sensor failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates Airspeed sensor 1 failure +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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_OFS: SIM\_ARSPD2\_OFS: Airspeed sensor offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated Airspeed sensor offset +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _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_RATIO: SIM\_ARSPD2\_RATIO: Airspeed ratios ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor ratio .. _SIM_ARSPD2_RND: SIM\_ARSPD2\_RND: Airspeed sensor noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated Airspeed sensor noise +--------+ | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SIM_ARSPD_FAIL: SIM\_ARSPD\_FAIL: Airspeed sensor failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulates Airspeed sensor 1 failure +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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_OFS: SIM\_ARSPD\_OFS: Airspeed sensor offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated Airspeed sensor offset +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _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_RATIO: SIM\_ARSPD\_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_SIGN: SIM\_ARSPD\_SIGN: Airspeed signflip ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated airspeed sensor with reversed pitot\/static connections +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SIM_BAR2_DELAY: SIM\_BAR2\_DELAY: Barometer delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer data time delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_BAR2_DISABLE: SIM\_BAR2\_DISABLE: Barometer disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Disable barometer in SITL +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _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_FREEZE: SIM\_BAR2\_FREEZE: Barometer freeze ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Freeze barometer to last recorded altitude .. _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_BAR2_GLITCH: SIM\_BAR2\_GLITCH: Barometer glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer glitch height in SITL +--------+ | Units | +========+ | meters | +--------+ .. _SIM_BAR2_RND: SIM\_BAR2\_RND: Barometer noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer noise in height +--------+ | Units | +========+ | meters | +--------+ .. _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_DN: SIM\_BAR2\_WCF\_DN: Wind coefficient down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction down in SITL .. _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_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_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_UP: SIM\_BAR2\_WCF\_UP: Wind coefficient up ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction up in SITL .. _SIM_BAR3_DELAY: SIM\_BAR3\_DELAY: Barometer delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer data time delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_BAR3_DISABLE: SIM\_BAR3\_DISABLE: Barometer disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Disable barometer in SITL +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _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_FREEZE: SIM\_BAR3\_FREEZE: Barometer freeze ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Freeze barometer to last recorded altitude .. _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_BAR3_GLITCH: SIM\_BAR3\_GLITCH: Barometer glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer glitch height in SITL +--------+ | 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_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_DN: SIM\_BAR3\_WCF\_DN: Wind coefficient down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction down in SITL .. _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_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_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_UP: SIM\_BAR3\_WCF\_UP: Wind coefficient up ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction up in SITL .. _SIM_BARO_COUNT: SIM\_BARO\_COUNT: Baro count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of simulated baros to create in SITL +--------+ | Range | +========+ | 0 to 3 | +--------+ .. _SIM_BARO_DELAY: SIM\_BARO\_DELAY: Barometer delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer data time delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_BARO_DISABLE: SIM\_BARO\_DISABLE: Barometer disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Disable barometer in SITL +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _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_FREEZE: SIM\_BARO\_FREEZE: Barometer freeze ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Freeze barometer to last recorded altitude .. _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_BARO_GLITCH: SIM\_BARO\_GLITCH: Barometer glitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer glitch height in SITL +--------+ | 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_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_DN: SIM\_BARO\_WCF\_DN: Wind coefficient down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction down in SITL .. _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_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_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_UP: SIM\_BARO\_WCF\_UP: Wind coefficient up ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer wind coefficient direction up in SITL .. _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_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_BAUDLIMIT_EN: SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SITL enable bandwidth limitting on telemetry ports with non\-zero values .. _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_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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_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 +--------------------+ | Bitmask | +====================+ | +-----+----------+ | | | 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 +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | 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 +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | None | | | +-------+--------------+ | | | 1 | MulticastUDP | | | +-------+--------------+ | | | 2 | SocketCAN | | | +-------+--------------+ | | | +--------------------------+ .. _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_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_EFI_TYPE: SIM\_EFI\_TYPE: Type of Electronic Fuel Injection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Different types of Electronic Fuel Injection \(EFI\) systems +-----------------------------------+ | Values | +===================================+ | +-------+-----------------------+ | | | Value | Meaning | | | +=======+=======================+ | | | 0 | None | | | +-------+-----------------------+ | | | 1 | MegaSquirt EFI system | | | +-------+-----------------------+ | | | 2 | Löweheiser EFI system | | | +-------+-----------------------+ | | | 8 | Hirth engines | | | +-------+-----------------------+ | | | +-----------------------------------+ .. _SIM_ENGINE_FAIL: SIM\_ENGINE\_FAIL: Engine Fail Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ mask of motors which SIM\_ENGINE\_MUL will be applied to +--------------------+ | Bitmask | +====================+ | +-----+----------+ | | | 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_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_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_ESC_TELEM: SIM\_ESC\_TELEM: Simulated ESC Telemetry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* enable perfect simulated ESC telemetry .. _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_FLOW_DELAY: SIM\_FLOW\_DELAY: Opflow Delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Opflow data delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _SIM_FLOW_ENABLE: SIM\_FLOW\_ENABLE: Opflow Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable simulated Optical Flow sensor +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enabled | | | +-------+---------+ | | | +---------------------+ .. _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_FLOW_RATE: SIM\_FLOW\_RATE: Opflow Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Opflow Data Rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_FLOW_RND: SIM\_FLOW\_RND: Opflow noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Optical Flow sensor measurement noise +--------------------+ | Units | +====================+ | radians per second | +--------------------+ .. _SIM_FRM_BAT_CAP: SIM\_FRM\_BAT\_CAP: battery capacity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ battery capacity\, zero for unlimited +-------------+ | Units | +=============+ | ampere hour | +-------------+ .. _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_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_FRM_DIAG_SZ: SIM\_FRM\_DIAG\_SZ: model diagonal size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ diagonal motor to motor distance of the model +--------+ | Units | +========+ | meters | +--------+ .. _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_EXPO: SIM\_FRM\_EXPO: thrust expo ~~~~~~~~~~~~~~~~~~~~~~~~~~~ motor thrust expo\, matching MOT\_THST\_EXPO .. _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_MASS: SIM\_FRM\_MASS: model mass ~~~~~~~~~~~~~~~~~~~~~~~~~~ mass of the multicopter model +-----------+ | Units | +===========+ | kilograms | +-----------+ .. _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_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_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_REF_ALT: SIM\_FRM\_REF\_ALT: reference altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ altitude AMSL of the drag reference test +--------+ | Units | +========+ | meters | +--------+ .. _SIM_FRM_REF_AMP: SIM\_FRM\_REF\_AMP: reference current ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ battery current in the drag reference test +--------+ | Units | +========+ | ampere | +--------+ .. _SIM_FRM_REF_ANG: SIM\_FRM\_REF\_ANG: reference angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ lean angle in the drag reference test +---------+ | Units | +=========+ | degrees | +---------+ .. _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_VOLT: SIM\_FRM\_REF\_VOLT: reference voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ battery voltage in the drag reference test +-------+ | Units | +=======+ | volt | +-------+ .. _SIM_FRM_ROT_RATE: SIM\_FRM\_ROT\_RATE: rotation rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ terminal yaw rotation rate +--------------------+ | Units | +====================+ | degrees per second | +--------------------+ .. _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_SPIN_MAX: SIM\_FRM\_SPIN\_MAX: motor spin maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ maximum motor spin fraction\, matching MOT\_SPIN\_MAX +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _SIM_FRM_SPIN_MIN: SIM\_FRM\_SPIN\_MIN: motor spin minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ minimum motor spin fraction\, matching MOT\_SPIN\_MIN +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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_GND_BEHAV: SIM\_GND\_BEHAV: Ground behavior ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ground behavior of aircraft \(tailsitter\, no movement\, forward only\) .. _SIM_GPS1_ACC: SIM\_GPS1\_ACC: GPS Accuracy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Accuracy .. _SIM_GPS1_ALT_OFS: SIM\_GPS1\_ALT\_OFS: GPS Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS Altitude Error +--------+ | Units | +========+ | meters | +--------+ .. _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_DRFTALT: SIM\_GPS1\_DRFTALT: GPS Altitude Drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS altitude drift error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS1_ENABLE: SIM\_GPS1\_ENABLE: GPS enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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_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_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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | Value | Meaning | | | +=======+=========================+ | | | 0 | Disabled | | | +-------+-------------------------+ | | | 1 | Emit HDT | | | +-------+-------------------------+ | | | 2 | Emit THS | | | +-------+-------------------------+ | | | 3 | KSXT | | | +-------+-------------------------+ | | | 4 | Be Moving Baseline Base | | | +-------+-------------------------+ | | | +-------------------------------------+ .. _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_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_HZ: SIM\_GPS1\_HZ: GPS Hz ~~~~~~~~~~~~~~~~~~~~~ GPS Update rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_GPS1_JAM: SIM\_GPS1\_JAM: GPS jamming enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS jamming +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SIM_GPS1_LAG_MS: SIM\_GPS1\_LAG\_MS: GPS Lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS lag +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _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_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_NUMSATS: SIM\_GPS1\_NUMSATS: GPS Num Satellites ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of satellites GPS has in view .. _SIM_GPS1_OPTIONS: SIM\_GPS1\_OPTIONS: GPS Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Options bitmask +----------------------------+ | Bitmask | +============================+ | +-----+------------------+ | | | Bit | Meaning | | | +=====+==================+ | | | 0 | UBlox GPS is F9P | | | +-----+------------------+ | | | +----------------------------+ .. _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_TYPE: SIM\_GPS1\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the type of simulation used for GPS +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | None | | | +-------+---------+ | | | 1 | UBlox | | | +-------+---------+ | | | 5 | NMEA | | | +-------+---------+ | | | 6 | SBP | | | +-------+---------+ | | | 7 | File | | | +-------+---------+ | | | 8 | Nova | | | +-------+---------+ | | | 9 | SBP2 | | | +-------+---------+ | | | 11 | Trimble | | | +-------+---------+ | | | 19 | MSP | | | +-------+---------+ | | | +---------------------+ .. _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_GPS2_ACC: SIM\_GPS2\_ACC: GPS Accuracy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Accuracy .. _SIM_GPS2_ALT_OFS: SIM\_GPS2\_ALT\_OFS: GPS Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS Altitude Error +--------+ | Units | +========+ | meters | +--------+ .. _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_DRFTALT: SIM\_GPS2\_DRFTALT: GPS Altitude Drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS altitude drift error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS2_ENABLE: SIM\_GPS2\_ENABLE: GPS enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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_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_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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | Value | Meaning | | | +=======+=========================+ | | | 0 | Disabled | | | +-------+-------------------------+ | | | 1 | Emit HDT | | | +-------+-------------------------+ | | | 2 | Emit THS | | | +-------+-------------------------+ | | | 3 | KSXT | | | +-------+-------------------------+ | | | 4 | Be Moving Baseline Base | | | +-------+-------------------------+ | | | +-------------------------------------+ .. _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_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_HZ: SIM\_GPS2\_HZ: GPS Hz ~~~~~~~~~~~~~~~~~~~~~ GPS Update rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_GPS2_JAM: SIM\_GPS2\_JAM: GPS jamming enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS jamming +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SIM_GPS2_LAG_MS: SIM\_GPS2\_LAG\_MS: GPS Lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS lag +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _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_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_NUMSATS: SIM\_GPS2\_NUMSATS: GPS Num Satellites ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of satellites GPS has in view .. _SIM_GPS2_OPTIONS: SIM\_GPS2\_OPTIONS: GPS Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Options bitmask +----------------------------+ | Bitmask | +============================+ | +-----+------------------+ | | | Bit | Meaning | | | +=====+==================+ | | | 0 | UBlox GPS is F9P | | | +-----+------------------+ | | | +----------------------------+ .. _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_TYPE: SIM\_GPS2\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the type of simulation used for GPS +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | None | | | +-------+---------+ | | | 1 | UBlox | | | +-------+---------+ | | | 5 | NMEA | | | +-------+---------+ | | | 6 | SBP | | | +-------+---------+ | | | 7 | File | | | +-------+---------+ | | | 8 | Nova | | | +-------+---------+ | | | 9 | SBP2 | | | +-------+---------+ | | | 11 | Trimble | | | +-------+---------+ | | | 19 | MSP | | | +-------+---------+ | | | +---------------------+ .. _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_GPS3_ACC: SIM\_GPS3\_ACC: GPS Accuracy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Accuracy .. _SIM_GPS3_ALT_OFS: SIM\_GPS3\_ALT\_OFS: GPS Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS Altitude Error +--------+ | Units | +========+ | meters | +--------+ .. _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_DRFTALT: SIM\_GPS3\_DRFTALT: GPS Altitude Drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS altitude drift error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS3_ENABLE: SIM\_GPS3\_ENABLE: GPS enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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_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_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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | Value | Meaning | | | +=======+=========================+ | | | 0 | Disabled | | | +-------+-------------------------+ | | | 1 | Emit HDT | | | +-------+-------------------------+ | | | 2 | Emit THS | | | +-------+-------------------------+ | | | 3 | KSXT | | | +-------+-------------------------+ | | | 4 | Be Moving Baseline Base | | | +-------+-------------------------+ | | | +-------------------------------------+ .. _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_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_HZ: SIM\_GPS3\_HZ: GPS Hz ~~~~~~~~~~~~~~~~~~~~~ GPS Update rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_GPS3_JAM: SIM\_GPS3\_JAM: GPS jamming enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS jamming +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SIM_GPS3_LAG_MS: SIM\_GPS3\_LAG\_MS: GPS Lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS lag +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _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_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_NUMSATS: SIM\_GPS3\_NUMSATS: GPS Num Satellites ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of satellites GPS has in view .. _SIM_GPS3_OPTIONS: SIM\_GPS3\_OPTIONS: GPS Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Options bitmask +----------------------------+ | Bitmask | +============================+ | +-----+------------------+ | | | Bit | Meaning | | | +=====+==================+ | | | 0 | UBlox GPS is F9P | | | +-----+------------------+ | | | +----------------------------+ .. _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_TYPE: SIM\_GPS3\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the type of simulation used for GPS +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | None | | | +-------+---------+ | | | 1 | UBlox | | | +-------+---------+ | | | 5 | NMEA | | | +-------+---------+ | | | 6 | SBP | | | +-------+---------+ | | | 7 | File | | | +-------+---------+ | | | 8 | Nova | | | +-------+---------+ | | | 9 | SBP2 | | | +-------+---------+ | | | 11 | Trimble | | | +-------+---------+ | | | 19 | MSP | | | +-------+---------+ | | | +---------------------+ .. _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_GPS4_ACC: SIM\_GPS4\_ACC: GPS Accuracy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Accuracy .. _SIM_GPS4_ALT_OFS: SIM\_GPS4\_ALT\_OFS: GPS Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS Altitude Error +--------+ | Units | +========+ | meters | +--------+ .. _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_DRFTALT: SIM\_GPS4\_DRFTALT: GPS Altitude Drift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS altitude drift error +--------+ | Units | +========+ | meters | +--------+ .. _SIM_GPS4_ENABLE: SIM\_GPS4\_ENABLE: GPS enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | 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_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_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_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 +-------------------------------------+ | Values | +=====================================+ | +-------+-------------------------+ | | | Value | Meaning | | | +=======+=========================+ | | | 0 | Disabled | | | +-------+-------------------------+ | | | 1 | Emit HDT | | | +-------+-------------------------+ | | | 2 | Emit THS | | | +-------+-------------------------+ | | | 3 | KSXT | | | +-------+-------------------------+ | | | 4 | Be Moving Baseline Base | | | +-------+-------------------------+ | | | +-------------------------------------+ .. _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_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_HZ: SIM\_GPS4\_HZ: GPS Hz ~~~~~~~~~~~~~~~~~~~~~ GPS Update rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_GPS4_JAM: SIM\_GPS4\_JAM: GPS jamming enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable simulated GPS jamming +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SIM_GPS4_LAG_MS: SIM\_GPS4\_LAG\_MS: GPS Lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS lag +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _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_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_NUMSATS: SIM\_GPS4\_NUMSATS: GPS Num Satellites ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of satellites GPS has in view .. _SIM_GPS4_OPTIONS: SIM\_GPS4\_OPTIONS: GPS Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS Options bitmask +----------------------------+ | Bitmask | +============================+ | +-----+------------------+ | | | Bit | Meaning | | | +=====+==================+ | | | 0 | UBlox GPS is F9P | | | +-----+------------------+ | | | +----------------------------+ .. _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_TYPE: SIM\_GPS4\_TYPE: GPS type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the type of simulation used for GPS +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | None | | | +-------+---------+ | | | 1 | UBlox | | | +-------+---------+ | | | 5 | NMEA | | | +-------+---------+ | | | 6 | SBP | | | +-------+---------+ | | | 7 | File | | | +-------+---------+ | | | 8 | Nova | | | +-------+---------+ | | | 9 | SBP2 | | | +-------+---------+ | | | 11 | Trimble | | | +-------+---------+ | | | 19 | MSP | | | +-------+---------+ | | | +---------------------+ .. _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_GPS_LOG_NUM: SIM\_GPS\_LOG\_NUM: GPS Log Number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Log number for GPS\:update\_file\(\) .. _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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _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_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_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\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Normal | | | +-------+---------+ | | | 1 | Reverse | | | +-------+---------+ | | | +---------------------+ .. _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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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 +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | Disabled | | | +-------+------------------+ | | | 1 | Readings stopped | | | +-------+------------------+ | | | +------------------------------+ .. _SIM_GYR_FILE_RW: SIM\_GYR\_FILE\_RW: Gyro data to\/from files ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Read and write gyro data to\/from files +-------------------------------------------------+ | Values | +=================================================+ | +-------+-------------------------------------+ | | | 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_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 +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | Disabled | | | +-------+-------------+ | | | 1 | V1 Protocol | | | +-------+-------------+ | | | 2 | V2 Protocol | | | +-------+-------------+ | | | +-------------------------+ .. _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_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_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_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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Disable | | | +-------+-------------------+ | | | 1 | Enabled | | | +-------+-------------------+ | | | 2 | Learn Calibration | | | +-------+-------------------+ | | | +-------------------------------+ .. _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_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_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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Disable | | | +-------+-------------------+ | | | 1 | Enabled | | | +-------+-------------------+ | | | 2 | Learn Calibration | | | +-------+-------------------+ | | | +-------------------------------+ .. _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_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_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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Disable | | | +-------+-------------------+ | | | 1 | Enabled | | | +-------+-------------------+ | | | 2 | Learn Calibration | | | +-------+-------------------+ | | | +-------------------------------+ .. _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_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_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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Disable | | | +-------+-------------------+ | | | 1 | Enabled | | | +-------+-------------------+ | | | 2 | Learn Calibration | | | +-------+-------------------+ | | | +-------------------------------+ .. _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_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_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 +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Disable | | | +-------+-------------------+ | | | 1 | Enabled | | | +-------+-------------------+ | | | 2 | Learn Calibration | | | +-------+-------------------+ | | | +-------------------------------+ .. _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_IMUT_END: SIM\_IMUT\_END: IMU temperature end ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ending IMU temperature of a curve .. _SIM_IMUT_FIXED: SIM\_IMUT\_FIXED: IMU fixed temperature ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ IMU fixed temperature by user .. _SIM_IMUT_START: SIM\_IMUT\_START: IMU temperature start ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Starting IMU temperature of a curve .. _SIM_IMUT_TCONST: SIM\_IMUT\_TCONST: IMU temperature time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ IMU temperature time constant of the curve .. _SIM_IMU_COUNT: SIM\_IMU\_COUNT: IMU count ~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of simulated IMUs to create .. _SIM_IMU_ORIENT: SIM\_IMU\_ORIENT: IMU orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated orientation of the IMUs +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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_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_INIT_ALT_OFS: SIM\_INIT\_ALT\_OFS: Initial Altitude Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS initial alt offset from origin .. _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_INS_THR_MIN: SIM\_INS\_THR\_MIN: Minimum throttle INS noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum throttle for simulated ins noise .. _SIM_JSON_MASTER: SIM\_JSON\_MASTER: JSON master instance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ the instance number to take servos from .. _SIM_LED_LAYOUT: SIM\_LED\_LAYOUT: LED layout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ LED layout config value .. _SIM_LOOP_DELAY: SIM\_LOOP\_DELAY: Extra delay per main loop ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Extra time delay per main loop +--------------+ | Units | +==============+ | microseconds | +--------------+ .. _SIM_MAG1_DEVID: SIM\_MAG1\_DEVID: MAG1 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 1 .. _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_FAIL: SIM\_MAG1\_FAIL: MAG1 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of MAG1 +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disabled | | | +-------+--------------+ | | | 1 | MAG1 Failure | | | +-------+--------------+ | | | +--------------------------+ .. _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_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_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_MAG2_DEVID: SIM\_MAG2\_DEVID: MAG2 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 2 .. _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_FAIL: SIM\_MAG2\_FAIL: MAG2 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of MAG2 +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disabled | | | +-------+--------------+ | | | 1 | MAG2 Failure | | | +-------+--------------+ | | | +--------------------------+ .. _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_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_ORIENT: SIM\_MAG2\_ORIENT: MAG2 Orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* MAG2 external compass orientation .. _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_DEVID: SIM\_MAG3\_DEVID: MAG3 Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Device ID of simulated compass 3 .. _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_FAIL: SIM\_MAG3\_FAIL: MAG3 Failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Simulated failure of MAG3 +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disabled | | | +-------+--------------+ | | | 1 | MAG3 Failure | | | +-------+--------------+ | | | +--------------------------+ .. _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_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_ORIENT: SIM\_MAG3\_ORIENT: MAG3 Orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* MAG3 external compass orientation .. _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_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_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_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_DELAY: SIM\_MAG\_DELAY: Mag measurement delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Magnetometer measurement delay +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _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_RND: SIM\_MAG\_RND: Mag motor noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Scaling factor for simulated vibration from motors .. _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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SIM_ODOM_ENABLE: SIM\_ODOM\_ENABLE: Odometry enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SITL odometry enabl +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _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_OH_RELAY_MSK: SIM\_OH\_RELAY\_MSK: SIM\-on\_hardware Relay Enable Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Allow relay output operation when running SIM\-on\-hardware .. _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_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_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_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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_PIN_MASK: SIM\_PIN\_MASK: GPIO emulation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SITL GPIO emulation .. _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_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _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_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_OPTIONS: SIM\_PLD\_OPTIONS: SIM\_Precland extra options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SIM\_Precland extra options +----------------------------------+ | Bitmask | +==================================+ | +-----+------------------------+ | | | Bit | Meaning | | | +=====+========================+ | | | 0 | Enable target distance | | | +-----+------------------------+ | | | +----------------------------------+ .. _SIM_PLD_ORIENT: SIM\_PLD\_ORIENT: Precland device orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland device orientation vector +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Front | | | +-------+---------+ | | | 4 | Back | | | +-------+---------+ | | | 24 | Up | | | +-------+---------+ | | | +---------------------+ .. _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_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _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\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | cylinder | | | +-------+----------+ | | | 1 | cone | | | +-------+----------+ | | | 2 | sphere | | | +-------+----------+ | | | +----------------------+ .. _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_RATE_HZ: SIM\_RATE\_HZ: Loop rate ~~~~~~~~~~~~~~~~~~~~~~~~ SITL Loop rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_RC_CHANCOUNT: SIM\_RC\_CHANCOUNT: RC channel count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SITL RC channel count .. _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 +-----------------------------------------------------------+ | Values | +===========================================================+ | +-------+-----------------------------------------------+ | | | Value | Meaning | | | +=======+===============================================+ | | | 0 | Disabled | | | +-------+-----------------------------------------------+ | | | 1 | No RC pusles | | | +-------+-----------------------------------------------+ | | | 2 | All Channels neutral except Throttle is 950us | | | +-------+-----------------------------------------------+ | | | +-----------------------------------------------------------+ .. _SIM_RFL_OPTS: SIM\_RFL\_OPTS: FlightAxis options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of FlightAxis options +------------------------------------------------------------------+ | Bitmask | +==================================================================+ | +-----+--------------------------------------------------------+ | | | 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_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_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SIM_SB_ALT_TARG: SIM\_SB\_ALT\_TARG: altitude target ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ altitude target +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SB_ARM_LEN: SIM\_SB\_ARM\_LEN: arm length ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ distance from center of mass to one motor +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SB_CLMB_RT: SIM\_SB\_CLMB\_RT: target climb rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ target climb rate +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_SB_COL: SIM\_SB\_COL: center of lift ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ center of lift position above CoG +--------+ | Units | +========+ | meters | +--------+ .. _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_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_SB_HMASS: SIM\_SB\_HMASS: helium mass ~~~~~~~~~~~~~~~~~~~~~~~~~~~ mass of lifting gas +-----------+ | Units | +===========+ | kilograms | +-----------+ .. _SIM_SB_MASS: SIM\_SB\_MASS: mass ~~~~~~~~~~~~~~~~~~~ mass of blimp not including lifting gas +-----------+ | Units | +===========+ | kilograms | +-----------+ .. _SIM_SB_MOI_PITCH: SIM\_SB\_MOI\_PITCH: moment of inertia in pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ moment of inertia in pitch .. _SIM_SB_MOI_ROLL: SIM\_SB\_MOI\_ROLL: moment of inertia in roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ moment of inertia in roll .. _SIM_SB_MOI_YAW: SIM\_SB\_MOI\_YAW: moment of inertia in yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ moment of inertia in yaw .. _SIM_SB_MOT_ANG: SIM\_SB\_MOT\_ANG: motor angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ maximum motor tilt angle +---------+ | Units | +=========+ | degrees | +---------+ .. _SIM_SB_MOT_THST: SIM\_SB\_MOT\_THST: motor thrust ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ thrust at max throttle for one motor +---------+ | Units | +=========+ | Newtons | +---------+ .. _SIM_SB_WVANE: SIM\_SB\_WVANE: weathervaning offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ center of drag for weathervaning +--------+ | Units | +========+ | meters | +--------+ .. _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_SERVO_DELAY: SIM\_SERVO\_DELAY: servo delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ servo delay +---------+ | Units | +=========+ | seconds | +---------+ .. _SIM_SERVO_FILTER: SIM\_SERVO\_FILTER: servo filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ servo filter +-------+ | Units | +=======+ | hertz | +-------+ .. _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_SHIP_DSIZE: SIM\_SHIP\_DSIZE: Deck Size ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Size of the ship\'s deck +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SHIP_ENABLE: SIM\_SHIP\_ENABLE: Ship landing Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable ship landing simulation +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enabled | | | +-------+---------+ | | | +---------------------+ .. _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_SHIP_PSIZE: SIM\_SHIP\_PSIZE: Path Size ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Diameter of the circle the ship is traveling on +--------+ | Units | +========+ | meters | +--------+ .. _SIM_SHIP_SPEED: SIM\_SHIP\_SPEED: Ship Speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed of the ship +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _SIM_SHIP_SYSID: SIM\_SHIP\_SYSID: System ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~ System ID of the ship +-----------------+ | Range | +=================+ | 1 to 4294967295 | +-----------------+ .. _SIM_SHOVE_TIME: SIM\_SHOVE\_TIME: Time length for shove ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Force to the vehicle over a period of time +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _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_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_ENABLE: SIM\_SLUP\_ENABLE: Slung Payload Sim enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Slung Payload Sim enable\/disable +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _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_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_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_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_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_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_RND: SIM\_SONAR\_RND: Sonar noise factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Scaling factor for simulated sonar noise .. _SIM_SONAR_ROT: SIM\_SONAR\_ROT: Sonar rotation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sonar rotation from rotations enumeration .. _SIM_SONAR_SCALE: SIM\_SONAR\_SCALE: Sonar conversion scale ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sonar conversion scale from distance to voltage +-----------------+ | Units | +=================+ | meters per volt | +-----------------+ .. _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_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | 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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _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_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_START: SIM\_TEMP\_START: Start temperature ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Baro start 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_TERRAIN: SIM\_TERRAIN: Terrain Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable using terrain for height +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 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_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_TETH_ENABLE: SIM\_TETH\_ENABLE: Tether Simulation Enable\/Disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable or disable the tether simulation +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _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_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_STUCK: SIM\_TETH\_STUCK: Tether Stuck Enable\/Disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable or disable a stuck tether simulation +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _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_THML_SCENARI: SIM\_THML\_SCENARI: Thermal scenarios ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scenario for thermalling simulation\, for soaring .. _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_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_TWIST_TIME: SIM\_TWIST\_TIME: Twist time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time that twist is applied on the vehicle +--------------+ | Units | +==============+ | milliseconds | +--------------+ .. _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_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_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_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_VIB_MOT_MULT: SIM\_VIB\_MOT\_MULT: Vibration motor scale ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Amplitude scaling of motor noise relative to gyro\/accel noise .. _SIM_VICON_FAIL: SIM\_VICON\_FAIL: SITL vicon failure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon failure +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | Value | Meaning | | | +=======+===============+ | | | 0 | Vicon Healthy | | | +-------+---------------+ | | | 1 | Vicon Failed | | | +-------+---------------+ | | | +---------------------------+ .. _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_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_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_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_VICON_RATE: SIM\_VICON\_RATE: SITL vicon rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon rate +-------+ | Units | +=======+ | hertz | +-------+ .. _SIM_VICON_TMASK: SIM\_VICON\_TMASK: SITL vicon type mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* SITL vicon messages sent +------------------------------------+ | Bitmask | +====================================+ | +-----+--------------------------+ | | | 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_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_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_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 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _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\. .. _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_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_ENABLE: SIM\_WAVE\_ENABLE: Wave enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wave enable and modes +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | 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_SPEED: SIM\_WAVE\_SPEED: Wave speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Wave speed in SITL +-------------------+ | 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_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_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_T: SIM\_WIND\_T: Wind Profile Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Selects how wind varies from surface to WIND\_T\_ALT +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | Value | Meaning | | | +=======+========================+ | | | 0 | square law | | | +-------+------------------------+ | | | 1 | none | | | +-------+------------------------+ | | | 2 | linear-see WIND_T_COEF | | | +-------+------------------------+ | | | +------------------------------------+ .. _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_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_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_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 .. _parameters_TEMP: TEMP Parameters --------------- .. _TEMP_LOG: TEMP\_LOG: Logging ~~~~~~~~~~~~~~~~~~ Enables temperature sensor logging +---------------------------------------------------------------+ | Values | +===============================================================+ | +-------+---------------------------------------------------+ | | | 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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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 +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | 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\. +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | 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\"\. +-----------+--------------------------------------------------+ | Range | Values | +===========+==================================================+ | -1 to 127 | +-------+--------------------------------------+ | | | | Value | Meaning | | | | +=======+======================================+ | | | | -1 | Disabled | | | | +-------+--------------------------------------+ | | | | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | | | +-------+--------------------------------------+ | | | | 5 | Navigator | | | | +-------+--------------------------------------+ | | | | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | | | +-------+--------------------------------------+ | | | | 14 | CubeOrange | | | | +-------+--------------------------------------+ | | | | 16 | Durandal | | | | +-------+--------------------------------------+ | | | | 100 | PX4-v1 | | | | +-------+--------------------------------------+ | | | | +-----------+--------------------------------------------------+ .. _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_UART0_: UART0\_ Parameters ------------------ .. _UART0_OPTIONS: UART0\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART0_RTSCTS: UART0\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+ .. _parameters_UART1_: UART1\_ Parameters ------------------ .. _UART1_OPTIONS: UART1\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART1_RTSCTS: UART1\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+ .. _parameters_UART2_: UART2\_ Parameters ------------------ .. _UART2_OPTIONS: UART2\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART2_RTSCTS: UART2\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+ .. _parameters_UART3_: UART3\_ Parameters ------------------ .. _UART3_OPTIONS: UART3\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART3_RTSCTS: UART3\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+ .. _parameters_UART4_: UART4\_ Parameters ------------------ .. _UART4_OPTIONS: UART4\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART4_RTSCTS: UART4\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+ .. _parameters_UART5_: UART5\_ Parameters ------------------ .. _UART5_OPTIONS: UART5\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART5_RTSCTS: UART5\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+ .. _parameters_UART6_: UART6\_ Parameters ------------------ .. _UART6_OPTIONS: UART6\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART6_RTSCTS: UART6\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+ .. _parameters_UART7_: UART7\_ Parameters ------------------ .. _UART7_OPTIONS: UART7\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART7_RTSCTS: UART7\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+ .. _parameters_UART8_: UART8\_ Parameters ------------------ .. _UART8_OPTIONS: UART8\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART8_RTSCTS: UART8\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+ .. _parameters_UART9_: UART9\_ Parameters ------------------ .. _UART9_OPTIONS: UART9\_OPTIONS: Serial options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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\. +-----------------------------------------+ | Bitmask | +=========================================+ | +-----+-------------------------------+ | | | 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 | | | +-----+-------------------------------+ | | | 11 | DisableFIFO | | | +-----+-------------------------------+ | | | 12 | Ignore Streamrate | | | +-----+-------------------------------+ | | | +-----------------------------------------+ .. _UART9_RTSCTS: UART9\_RTSCTS: Serial1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control\. You must have the RTS and CTS pins available on the port\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | 2 | Auto | | | +-------+----------+ | | | +----------------------+