.. 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_ArduPlane: ArduPlane 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 .. _AUTOTUNE_LEVEL: AUTOTUNE\_LEVEL: Autotune level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Level of aggressiveness of pitch and roll PID gains\. Lower values result in a \'softer\' tune\. Level 6 recommended for most planes\. A value of 0 means to keep the current values of RMAX and TCONST for the controllers\, tuning only the PID values +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _AUTOTUNE_OPTIONS: AUTOTUNE\_OPTIONS: Autotune options bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Fixed Wing Autotune specific options\. Useful on QuadPlanes with higher INS\_GYRO\_FILTER settings to prevent these filter values from being set too aggressively during Fixed Wing Autotune\. +-------------------------------------------+ | Bitmask | +===========================================+ | +-----+---------------------------------+ | | | Bit | Meaning | | | +=====+=================================+ | | | 0 | Disable FLTD update by Autotune | | | +-----+---------------------------------+ | | | 1 | Disable FLTT update by Autotune | | | +-----+---------------------------------+ | | | +-------------------------------------------+ .. _GCS_PID_MASK: GCS\_PID\_MASK: GCS PID tuning mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* bitmask of PIDs to send MAVLink PID\_TUNING messages for +--------------------+ | Bitmask | +====================+ | +-----+----------+ | | | Bit | Meaning | | | +=====+==========+ | | | 0 | Roll | | | +-----+----------+ | | | 1 | Pitch | | | +-----+----------+ | | | 2 | Yaw | | | +-----+----------+ | | | 3 | Steering | | | +-----+----------+ | | | 4 | Landing | | | +-----+----------+ | | | 5 | AccZ | | | +-----+----------+ | | | +--------------------+ .. _KFF_RDDRMIX: KFF\_RDDRMIX: Rudder Mix ~~~~~~~~~~~~~~~~~~~~~~~~ Amount of rudder to add during aileron movement\. Increase if nose initially yaws away from roll\. Reduces adverse yaw\. +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _KFF_THR2PTCH: KFF\_THR2PTCH: Throttle to Pitch Mix ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch up to add in proportion to throttle\. 100\% throttle will add this number of degrees to the pitch target\. +-----------+---------+ | Increment | Range | +===========+=========+ | 0.01 | -5 to 5 | +-----------+---------+ .. _STAB_PITCH_DOWN: STAB\_PITCH\_DOWN: Low throttle pitch down trim ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Degrees of down pitch added when throttle is below TRIM\_THROTTLE in FBWA and AUTOTUNE modes\. Scales linearly so full value is added when THR\_MIN is reached\. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls\. 2 degrees recommended for most planes\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.1 | 0 to 15 | degrees | +-----------+---------+---------+ .. _ALT_SLOPE_MIN: ALT\_SLOPE\_MIN: Altitude slope minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the minimum altitude change for a waypoint before an altitude slope will be used instead of an immediate altitude change\. The default value is 15 meters\, which helps to smooth out waypoint missions where small altitude changes happen near waypoints\. If you don\'t want altitude slopes to be used in missions then you can set this to zero\, which will disable altitude slope calculations\. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before an altitude slope will be used to change altitude\. This also gates the gradual altitude ramp used during the approach leg of QRTL\. +-----------+-----------+--------+ | Increment | Range | Units | +===========+===========+========+ | 1 | 0 to 1000 | meters | +-----------+-----------+--------+ .. _ALT_SLOPE_MAXHGT: ALT\_SLOPE\_MAXHGT: Altitude slope maximum height ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the height above the altitude slope the plane may be before rebuilding it\. This is useful for smoothing out an auto\-takeoff\. +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 0 to 100 | meters | +-----------+----------+--------+ .. _STICK_MIXING: STICK\_MIXING: Stick Mixing ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When enabled\, this adds user stick input to the control surfaces in auto modes\, allowing the user to have some degree of flight control without changing modes\. There are 3 types of stick mixing available\. If you set STICK\_MIXING to 1 or 4 then it will use \"fly by wire\" mixing\. 4 will provide roll and yaw control\, while 1 also provides FBW\-A style pitch control\. If you set STICK\_MIXING to 3 then it will apply to the yaw while in quadplane modes only\, such as while doing an automatic VTOL takeoff or landing\. WARNING\: FBW\-A pitch control does not offer flight envelope protections\. Prolonged pitch inputs in mode 1 can result in a stall or overspeed condition\, and should be avoided\. +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | 0 | Disabled | | | +-------+----------------------+ | | | 1 | FBW style | | | +-------+----------------------+ | | | 3 | VTOL Yaw only | | | +-------+----------------------+ | | | 4 | FBW style (no pitch) | | | +-------+----------------------+ | | | +----------------------------------+ .. _TKOFF_THR_MINSPD: TKOFF\_THR\_MINSPD: Takeoff throttle min speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum GPS ground speed in m\/s used by the speed check that un\-suppresses throttle in auto\-takeoff\. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult\, but it is preferable to use the TKOFF\_THR\_MINACC and TKOFF\_THR\_DELAY parameters for catapult launches due to the errors associated with GPS measurements\. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m\/s to provide additional protection against premature motor start\. Note that the GPS velocity will lag the real velocity by about 0\.5 seconds\. The ground speed check is delayed by the TKOFF\_THR\_DELAY parameter\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 0.1 | 0 to 30 | meters per second | +-----------+---------+-------------------+ .. _TKOFF_THR_MINACC: TKOFF\_THR\_MINACC: Takeoff throttle min acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum forward acceleration in m\/s\/s before arming the ground speed check in auto\-takeoff\. This is meant to be used for hand launches\. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine\. For hand launches and bungee launches this should be set to around 15\. Also see TKOFF\_ACCEL\_CNT parameter for control of full \"shake to arm\"\. +-----------+---------+--------------------------+ | Increment | Range | Units | +===========+=========+==========================+ | 0.1 | 0 to 30 | meters per square second | +-----------+---------+--------------------------+ .. _TKOFF_THR_DELAY: TKOFF\_THR\_DELAY: Takeoff throttle delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the time delay \(in 1\/10ths of a second\) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF\_THR\_MINACC has passed\. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 \(0\.2 seconds\) to ensure that the aircraft is safely clear of the throwers arm before the motor can start\. For bungee launches a larger value can be used \(such as 30\) to give time for the bungee to release from the aircraft before the motor is started\. +-----------+----------+-------------+ | Increment | Range | Units | +===========+==========+=============+ | 1 | 0 to 127 | deciseconds | +-----------+----------+-------------+ .. _TKOFF_THR_MAX_T: TKOFF\_THR\_MAX\_T: Takeoff throttle maximum time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the time that maximum throttle will be forced during a fixed wing takeoff\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.5 | 0 to 10 | seconds | +-----------+---------+---------+ .. _TKOFF_THR_MIN: TKOFF\_THR\_MIN: Takeoff minimum throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes\, when TKOFF\_OPTIONS bit 0 is set\. Also\, the minimum throttle to use in a quadpane forward transition\. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition\. It is used when it is larger than THR\_MIN\, otherwise THR\_MIN is used instead\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _TKOFF_THR_IDLE: TKOFF\_THR\_IDLE: Takeoff idle throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The idle throttle to hold after arming and before a takeoff\. Applicable in TAKEOFF and AUTO modes\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _TKOFF_OPTIONS: TKOFF\_OPTIONS: Takeoff options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This selects the mode of the takeoff in AUTO and TAKEOFF flight modes\. +---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Bitmask | +=============================================================================================================================================================================================================================================================================================+ | +-----+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+===================================================================================================================================================================================================================================================================================+ | | | 0 | When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor. | | | +-----+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | +---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ .. _TKOFF_TDRAG_ELEV: TKOFF\_TDRAG\_ELEV: Takeoff tail dragger elevator ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the amount of elevator to apply during the initial stage of a takeoff\. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering\. This option should be combined with the TKOFF\_TDRAG\_SPD1 option and the GROUND\_STEER\_ALT option along with tuning of the ground steering controller\. A value of zero means to bypass the initial \"tail hold\" stage of takeoff\. Set to zero for hand and catapult launch\. For tail\-draggers you should normally set this to 100\, meaning full up elevator during the initial stage of takeoff\. For most tricycle undercarriage aircraft a value of zero will work well\, but for some tricycle aircraft a small negative value \(say around \-20 to \-30\) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration\. Only use a negative value if you find that the nosewheel doesn\'t grip well during takeoff\. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel\. Add down elevator 10 percent at a time\. +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -100 to 100 | percent | +-----------+-------------+---------+ .. _TKOFF_TDRAG_SPD1: TKOFF\_TDRAG\_SPD1: Takeoff tail dragger speed1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground\. When TKOFF\_TDRAG\_SPD1 is reached the pitch of the aircraft will be held level until TKOFF\_ROTATE\_SPD is reached\, at which point the takeoff pitch specified in the mission will be used to \"rotate\" the pitch for takeoff climb\. Set TKOFF\_TDRAG\_SPD1 to zero to go straight to rotation\. This should be set to zero for hand launch and catapult launch\. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down\. For tail dragger aircraft it should be set just below the stall speed\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 0.1 | 0 to 30 | meters per second | +-----------+---------+-------------------+ .. _TKOFF_ROTATE_SPD: TKOFF\_ROTATE\_SPD: Takeoff rotate speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the airspeed at which the aircraft will \"rotate\"\, setting climb pitch specified in the mission\. If TKOFF\_ROTATE\_SPD is zero then the climb pitch will be used as soon as takeoff is started\. For hand launch and catapult launches a TKOFF\_ROTATE\_SPD of zero should be set\. For all ground launches TKOFF\_ROTATE\_SPD should be set above the stall speed\, usually by about 10 to 30 percent\. During the run\, use TKOFF\_GND\_PITCH to keep the aircraft on the runway while below this airspeed\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 0.1 | 0 to 30 | meters per second | +-----------+---------+-------------------+ .. _TKOFF_THR_SLEW: TKOFF\_THR\_SLEW: Takeoff throttle slew rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the slew rate for the throttle during auto takeoff\. When this is zero the THR\_SLEWRATE parameter is used during takeoff\. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control\. The value is a percentage throttle change per second\, so a value of 20 means to advance the throttle over 5 seconds on takeoff\. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle\. A value of \-1 means no limit on slew rate in takeoff\. +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | -1 to 500 | percent per second | +-----------+-----------+--------------------+ .. _TKOFF_PLIM_SEC: TKOFF\_PLIM\_SEC: Takeoff pitch limit reduction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter reduces the pitch minimum limit of an auto\-takeoff just a few seconds before it reaches the target altitude\. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height\. When set to zero\, the mission pitch min is enforced all the way to and through the target altitude\, otherwise the pitch min slowly reduces to zero in the final segment\. This is the pitch\_min\, not the demand\. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.5 | 0 to 10 | seconds | +-----------+---------+---------+ .. _TKOFF_FLAP_PCNT: TKOFF\_FLAP\_PCNT: Takeoff flap percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The amount of flaps \(as a percentage\) to apply in automatic takeoff +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _LEVEL_ROLL_LIMIT: LEVEL\_ROLL\_LIMIT: Level flight roll limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls the maximum bank angle in degrees during flight modes where level flight is desired\, such as in the final stages of landing\, and during auto takeoff\. This should be a small angle \(such as 5 degrees\) to prevent a wing hitting the runway during takeoff or landing\. Setting this to zero will completely disable heading hold on auto takeoff while below 5 meters and during the flare portion of a final landing approach\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 45 | degrees | +-----------+---------+---------+ .. _USE_REV_THRUST: USE\_REV\_THRUST: Bitmask for when to allow negative reverse thrust ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls when to use reverse thrust\. If set to a non\-zero value then the bits correspond to flight stages where reverse thrust may be used\. The most commonly used value for USE\_REV\_THRUST is 2\, which means AUTO\_LAND only\. That enables reverse thrust in the landing stage of AUTO mode\. Another common choice is 1\, which means to use reverse thrust in all auto flight stages\. Reverse thrust is always used in MANUAL mode if enabled with THR\_MIN \< 0\. In non\-autothrottle controlled modes\, if reverse thrust is not used\, then THR\_MIN is effectively set to 0 for that mode\. +--------------------------------+ | Bitmask | +================================+ | +-----+----------------------+ | | | Bit | Meaning | | | +=====+======================+ | | | 0 | AUTO_ALWAYS | | | +-----+----------------------+ | | | 1 | AUTO_LAND | | | +-----+----------------------+ | | | 2 | AUTO_LOITER_TO_ALT | | | +-----+----------------------+ | | | 3 | AUTO_LOITER_ALL | | | +-----+----------------------+ | | | 4 | AUTO_WAYPOINTS | | | +-----+----------------------+ | | | 5 | LOITER | | | +-----+----------------------+ | | | 6 | RTL | | | +-----+----------------------+ | | | 7 | CIRCLE | | | +-----+----------------------+ | | | 8 | CRUISE | | | +-----+----------------------+ | | | 9 | FBWB | | | +-----+----------------------+ | | | 10 | GUIDED | | | +-----+----------------------+ | | | 11 | AUTO_LANDING_PATTERN | | | +-----+----------------------+ | | | 12 | FBWA | | | +-----+----------------------+ | | | 13 | ACRO | | | +-----+----------------------+ | | | 14 | STABILIZE | | | +-----+----------------------+ | | | 15 | THERMAL | | | +-----+----------------------+ | | | +--------------------------------+ .. _ALT_OFFSET: ALT\_OFFSET: Altitude offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is added to the target altitude in automatic flight\. It can be used to add a global altitude offset to a mission\. The offset resets to zero on reboot +-----------+-----------------+--------+----------+ | Increment | Range | Units | Volatile | +===========+=================+========+==========+ | 1 | -32767 to 32767 | meters | True | +-----------+-----------------+--------+----------+ .. _WP_RADIUS: WP\_RADIUS: Waypoint Radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete\. To avoid the aircraft looping around the waypoint in case it misses by more than the WP\_RADIUS an additional check is made to see if the aircraft has crossed a \"finish line\" passing through the waypoint and perpendicular to the flight path from the previous waypoint\. If that finish line is crossed then the waypoint is considered complete\. Note that the navigation controller may decide to turn later than WP\_RADIUS before a waypoint\, based on how sharp the turn is and the speed of the aircraft\. It is safe to set WP\_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn\. If you set WP\_RADIUS too small then you will tend to overshoot the turns\. +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 1 | 1 to 32767 | meters | +-----------+------------+--------+ .. _WP_MAX_RADIUS: WP\_MAX\_RADIUS: Waypoint Maximum Radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the maximum distance to a waypoint for the waypoint to be considered complete\. This overrides the \"cross the finish line\" logic that is normally used to consider a waypoint complete\. For normal AUTO behaviour this parameter should be set to zero\. Using a non\-zero value is only recommended when it is critical that the aircraft does approach within the given radius\, and should loop around until it has done so\. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set\. +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 1 | 0 to 32767 | meters | +-----------+------------+--------+ .. _WP_LOITER_RAD: WP\_LOITER\_RAD: Waypoint Loiter Radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines the distance from the waypoint center\, the plane will maintain during a loiter\. If you set this value to a negative number then the default loiter direction will be counter\-clockwise instead of clockwise\. If this value is too close to zero\, the achieved loiter radius will be determined by ROLL\_LIMIT\_DEG\. +-----------+-----------------+--------+ | Increment | Range | Units | +===========+=================+========+ | 1 | -32767 to 32767 | meters | +-----------+-----------------+--------+ .. _RTL_RADIUS: RTL\_RADIUS: RTL loiter radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines the radius of the loiter circle when in RTL mode\. If this is zero then WP\_LOITER\_RAD is used\. If the radius is negative then a counter\-clockwise is used\. If positive then a clockwise loiter is used\. For quadplanes with Q\_RTL\_MODE set to 1 \(Enabled\)\, this value is used to set the minimum radius at which the plane will transition from fixed\-wing to VTOL mode for landing\. +-----------+-----------------+--------+ | Increment | Range | Units | +===========+=================+========+ | 1 | -32767 to 32767 | meters | +-----------+-----------------+--------+ .. _STALL_PREVENTION: STALL\_PREVENTION: Enable stall prevention ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables roll limits at low airspeed in roll limiting flight modes\. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED\_MIN that must be set correctly\. Without airspeed sensor\, uses synthetic airspeed from wind speed estimate that may both be inaccurate\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _AIRSPEED_CRUISE: AIRSPEED\_CRUISE: Target cruise airspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Target cruise airspeed in m\/s in automatic throttle modes\. Value is as an indicated \(calibrated\/apparent\) airspeed\. +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _AIRSPEED_MIN: AIRSPEED\_MIN: Minimum Airspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum airspeed demanded in automatic throttle modes\. Should be set to 20\% higher than level flight stall speed\. +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 1 | 5 to 100 | meters per second | +-----------+----------+-------------------+ .. _AIRSPEED_MAX: AIRSPEED\_MAX: Maximum Airspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum airspeed demanded in automatic throttle modes\. Should be set slightly less than level flight speed at THR\_MAX and also at least 50\% above AIRSPEED\_MIN to allow for accurate TECS altitude control\. +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 1 | 5 to 100 | meters per second | +-----------+----------+-------------------+ .. _AIRSPEED_STALL: AIRSPEED\_STALL: Stall airspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking\. It is also used during landing final as the minimum airspeed that can be demanded by the TECS\, which allows using TECS\_LAND\_ARSPD or LAND\_PF\_ARSPD to achieve landings slower than AIRSPEED\_MIN\. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed\. Typically set slightly higher then true stall speed\. +---------+-------------------+ | Range | Units | +=========+===================+ | 5 to 75 | meters per second | +---------+-------------------+ .. _FBWB_ELEV_REV: FBWB\_ELEV\_REV: Fly By Wire elevator reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse sense of elevator in FBWB and CRUISE modes\. When set to 0 up elevator \(pulling back on the stick\) means to raise altitude\. When set to 1\, up elevator means to lower altitude\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _TERRAIN_FOLLOW: TERRAIN\_FOLLOW: Use terrain following ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This enables terrain following for CRUISE mode\, FBWB mode\, RTL and for rally points\. To use this option you also need to set TERRAIN\_ENABLE to 1\, which enables terrain data fetching from the GCS\, and you need to have a GCS that supports sending terrain data to the aircraft\. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home\. In RTL the return to launch altitude will be considered to be a height above the terrain\. Rally point altitudes will be taken as height above the terrain\. This option does not affect mission items\, which have a per\-waypoint flag for whether they are height above home or height above the terrain\. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission\. +----------------------------+ | Bitmask | +============================+ | +-----+------------------+ | | | Bit | Meaning | | | +=====+==================+ | | | 0 | Enable all modes | | | +-----+------------------+ | | | 1 | FBWB | | | +-----+------------------+ | | | 2 | Cruise | | | +-----+------------------+ | | | 3 | Auto | | | +-----+------------------+ | | | 4 | RTL | | | +-----+------------------+ | | | 5 | Avoid_ADSB | | | +-----+------------------+ | | | 6 | Guided | | | +-----+------------------+ | | | 7 | Loiter | | | +-----+------------------+ | | | 8 | Circle | | | +-----+------------------+ | | | 9 | QRTL | | | +-----+------------------+ | | | 10 | QLand | | | +-----+------------------+ | | | 11 | Qloiter | | | +-----+------------------+ | | | 12 | AUTOLAND | | | +-----+------------------+ | | | +----------------------------+ .. _TERRAIN_LOOKAHD: TERRAIN\_LOOKAHD: Terrain lookahead ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain\. A value of zero means no lookahead\, so the controller will track only the terrain directly below the aircraft\. The lookahead will never extend beyond the next waypoint when in AUTO mode\. +------------+--------+ | Range | Units | +============+========+ | 0 to 10000 | meters | +------------+--------+ .. _FBWB_CLIMB_RATE: FBWB\_CLIMB\_RATE: Fly By Wire B altitude change rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the rate in m\/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection\. Note that the actual climb rate of the aircraft can be lower than this\, depending on your airspeed and throttle control settings\. If you have this parameter set to the default value of 2\.0\, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 0.1 | 1 to 10 | meters per second | +-----------+---------+-------------------+ .. _THR_MIN: THR\_MIN: Minimum Throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum throttle percentage used in all modes except manual\, provided THR\_PASS\_STAB is not set\. Negative values allow reverse thrust if hardware supports it\. +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -100 to 100 | percent | +-----------+-------------+---------+ .. _THR_MAX: THR\_MAX: Maximum Throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum throttle percentage used in all modes except manual\, provided THR\_PASS\_STAB is not set\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _TKOFF_THR_MAX: TKOFF\_THR\_MAX: Maximum Throttle for takeoff ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum throttle setting during automatic takeoff\. If this is zero then THR\_MAX is used for takeoff as well\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _THR_SLEWRATE: THR\_SLEWRATE: Throttle slew rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum change in throttle percentage per second\. Lower limit based on 1 microsend of servo increase per loop\. Divide SCHED\_LOOP\_RATE by approximately 10 to determine minimum achievable value\. +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 500 | percent per second | +-----------+----------+--------------------+ .. _FLAP_SLEWRATE: FLAP\_SLEWRATE: Flap slew rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* maximum percentage change in flap output per second\. A setting of 25 means to not change the flap by more than 25\% of the full flap range in one second\. A value of 0 means no rate limiting\. +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 100 | percent per second | +-----------+----------+--------------------+ .. _THR_SUPP_MAN: THR\_SUPP\_MAN: Throttle suppress manual passthru ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When throttle is suppressed in auto mode it is normally forced to zero\. If you enable this option\, then while suppressed it will be manual throttle\. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _THR_PASS_STAB: THR\_PASS\_STAB: Throttle passthru in stabilize ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If this is set then when in STABILIZE\, FBWA or ACRO modes the throttle is a direct passthru from the transmitter\. This means the THR\_MIN and THR\_MAX settings are not used in these modes\. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _THR_FAILSAFE: THR\_FAILSAFE: Throttle and RC Failsafe Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 0 disables the failsafe\. 1 enables failsafe on loss of RC input\. This is detected either by the throttle channel reaching THR\_FS\_VALUE \(at or below it\, or at or above it for a reversed throttle channel\)\, loss of receiver valid pulses\/data\, or by the FS bit in receivers that provide it\, like SBUS\. A programmable failsafe action will occur and RC inputs\, if present\, will be ignored\. A value of 2 means that the RC inputs won\'t be used when RC failsafe is detected by any of the above methods\, but it won\'t trigger an RC failsafe action\. +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Disabled | | | +-------+-------------------+ | | | 1 | Enabled | | | +-------+-------------------+ | | | 2 | EnabledNoFailsafe | | | +-------+-------------------+ | | | +-------------------------------+ .. _THR_FS_VALUE: THR\_FS\_VALUE: Throttle Failsafe Value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The PWM level on the throttle input channel at or below which throttle failsafe triggers\. Note that this should be well below the normal minimum for your throttle channel\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 1 | 925 to 2200 | +-----------+-------------+ .. _TRIM_THROTTLE: TRIM\_THROTTLE: Throttle cruise percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED\_CRUISE\. Caution\: low battery voltages at the end of flights may require higher throttle to maintain airspeed\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _THROTTLE_NUDGE: THROTTLE\_NUDGE: Throttle nudge enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled\, this uses the throttle input in auto\-throttle modes to \'nudge\' the throttle or airspeed to higher or lower values\. When you have an airspeed sensor the nudge affects the target airspeed\, so that throttle inputs above 50\% will increase the target airspeed from AIRSPEED\_CRUISE up to a maximum of AIRSPEED\_MAX\. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50\%\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _FS_SHORT_ACTN: FS\_SHORT\_ACTN: Short failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The action to take on a short failsafe event\. A short failsafe event can be triggered instantly by loss of RC control or by throttle value \(see THR\_FS\_VALUE\)\. If in CIRCLE or RTL mode this parameter is ignored\. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS\_SHORT\_ACTN is 0 or 1\, a change to FBWA mode with zero throttle if FS\_SHORT\_ACTN is 2\, and a change to FBWB mode if FS\_SHORT\_ACTN is 4\. In all other modes \(AUTO\, GUIDED and LOITER\) a short failsafe event will cause no mode change if FS\_SHORT\_ACTN is set to 0\, will cause a change to CIRCLE mode if set to 1\, will change to FBWA mode with zero throttle if set to 2\, or will change to FBWB if set to 4\. Please see the documentation for FS\_LONG\_ACTN for the behaviour after FS\_LONG\_TIMEOUT seconds of failsafe\. This parameter only applies to failsafes during fixed wing modes\. Quadplane modes will switch to QLAND unless Q\_OPTIONS bit 5\(QRTL\) or 20\(RTL\) are set\. +----------------------------------------------------------------+ | Values | +================================================================+ | +-------+----------------------------------------------------+ | | | Value | Meaning | | | +=======+====================================================+ | | | 0 | CIRCLE/no change(if already in AUTO|GUIDED|LOITER) | | | +-------+----------------------------------------------------+ | | | 1 | CIRCLE | | | +-------+----------------------------------------------------+ | | | 2 | FBWA at zero throttle | | | +-------+----------------------------------------------------+ | | | 3 | Disable | | | +-------+----------------------------------------------------+ | | | 4 | FBWB | | | +-------+----------------------------------------------------+ | | | +----------------------------------------------------------------+ .. _FS_LONG_ACTN: FS\_LONG\_ACTN: Long failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The action to take on a long \(FS\_LONG\_TIMEOUT seconds\) failsafe event\. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS\_LONG\_ACTN is 0 or 1\, and will change to FBWA if FS\_LONG\_ACTN is set to 2\. If the aircraft was in an auto mode \(such as AUTO or GUIDED\) when the failsafe started then it will continue in the auto mode if FS\_LONG\_ACTN is set to 0\, will change to RTL mode if FS\_LONG\_ACTN is set to 1 and will change to FBWA mode if FS\_LONG\_ACTN is set to 2\. If FS\_LONG\_ACTN is set to 3\, the parachute will be deployed \(make sure the chute is configured and enabled\)\. If FS\_LONG\_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO\, unless it is in the middle of a landing sequence\. If FS\_LONG\_ACTN is set to 5\, will switch to AUTOLAND mode if possible\, otherwise RTL mode\. This parameter only applies to failsafes during fixed wing modes\. Quadplane modes will switch to QLAND unless Q\_OPTIONS bit 5 \(QRTL\) or 20\(RTL\) are set\. +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | Continue | | | +-------+------------------+ | | | 1 | ReturnToLaunch | | | +-------+------------------+ | | | 2 | Glide | | | +-------+------------------+ | | | 3 | Deploy Parachute | | | +-------+------------------+ | | | 4 | Auto | | | +-------+------------------+ | | | 5 | AUTOLAND | | | +-------+------------------+ | | | +------------------------------+ .. _FS_LONG_TIMEOUT: FS\_LONG\_TIMEOUT: Long failsafe timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The time in seconds that a failsafe condition has to persist before a long failsafe event will occur\. This defaults to 5 seconds\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 0.5 | 1 to 300 | seconds | +-----------+----------+---------+ .. _FS_GCS_ENABL: FS\_GCS\_ENABL: GCS failsafe enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable ground control station telemetry failsafe\. Failsafe will trigger after FS\_LONG\_TIMEOUT seconds of no MAVLink heartbeat messages\. There are three possible enabled settings\. Setting FS\_GCS\_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message\. Note that heartbeat tracking only becomes active after having received the first heartbeat from the MAV\_GCS\_SYSID primary GCS system\. Setting FS\_GCS\_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages\, or a RADIO\_STATUS message from a MAVLink enabled telemetry adio indicating that the primary ground station is not receiving status updates from the aircraft\, which is indicated by the RADIO\_STATUS\.remrssi field being zero \(this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios\)\.Setting FS\_GCS\_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat\(like option one\)\, but only in AUTO mode\. WARNING\: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station\. If this option is enabled on an electric plane then you should enable ARMING\_REQUIRED\. +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | Value | Meaning | | | +=======+=====================+ | | | 0 | Disabled | | | +-------+---------------------+ | | | 1 | Heartbeat | | | +-------+---------------------+ | | | 2 | HeartbeatAndREMRSSI | | | +-------+---------------------+ | | | 3 | HeartbeatAndAUTO | | | +-------+---------------------+ | | | +---------------------------------+ .. _FLTMODE_CH: FLTMODE\_CH: Flightmode channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC Channel to use for flight mode control +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | Channel 1 | | | +-------+------------+ | | | 2 | Channel 2 | | | +-------+------------+ | | | 3 | Channel 3 | | | +-------+------------+ | | | 4 | Channel 4 | | | +-------+------------+ | | | 5 | Channel 5 | | | +-------+------------+ | | | 6 | Channel 6 | | | +-------+------------+ | | | 7 | Channel 7 | | | +-------+------------+ | | | 8 | Channel 8 | | | +-------+------------+ | | | 9 | Channel 9 | | | +-------+------------+ | | | 10 | Channel 10 | | | +-------+------------+ | | | 11 | Channel 11 | | | +-------+------------+ | | | 12 | Channel 12 | | | +-------+------------+ | | | 13 | Channel 13 | | | +-------+------------+ | | | 14 | Channel 14 | | | +-------+------------+ | | | 15 | Channel 15 | | | +-------+------------+ | | | 16 | Channel 16 | | | +-------+------------+ | | | +------------------------+ .. _FLTMODE1: FLTMODE1: FlightMode1 ~~~~~~~~~~~~~~~~~~~~~ Flight mode for switch position 1 \(910 to 1230 and above 2049\) +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Manual | | | +-------+-----------------+ | | | 1 | CIRCLE | | | +-------+-----------------+ | | | 2 | STABILIZE | | | +-------+-----------------+ | | | 3 | TRAINING | | | +-------+-----------------+ | | | 4 | ACRO | | | +-------+-----------------+ | | | 5 | FBWA | | | +-------+-----------------+ | | | 6 | FBWB | | | +-------+-----------------+ | | | 7 | CRUISE | | | +-------+-----------------+ | | | 8 | AUTOTUNE | | | +-------+-----------------+ | | | 10 | Auto | | | +-------+-----------------+ | | | 11 | RTL | | | +-------+-----------------+ | | | 12 | Loiter | | | +-------+-----------------+ | | | 13 | TAKEOFF | | | +-------+-----------------+ | | | 14 | AVOID_ADSB | | | +-------+-----------------+ | | | 15 | Guided | | | +-------+-----------------+ | | | 17 | QSTABILIZE | | | +-------+-----------------+ | | | 18 | QHOVER | | | +-------+-----------------+ | | | 19 | QLOITER | | | +-------+-----------------+ | | | 20 | QLAND | | | +-------+-----------------+ | | | 21 | QRTL | | | +-------+-----------------+ | | | 22 | QAUTOTUNE | | | +-------+-----------------+ | | | 23 | QACRO | | | +-------+-----------------+ | | | 24 | THERMAL | | | +-------+-----------------+ | | | 25 | Loiter to QLand | | | +-------+-----------------+ | | | 26 | AUTOLAND | | | +-------+-----------------+ | | | +-----------------------------+ .. _FLTMODE2: FLTMODE2: FlightMode2 ~~~~~~~~~~~~~~~~~~~~~ Flight mode for switch position 2 \(1231 to 1360\) +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Manual | | | +-------+-----------------+ | | | 1 | CIRCLE | | | +-------+-----------------+ | | | 2 | STABILIZE | | | +-------+-----------------+ | | | 3 | TRAINING | | | +-------+-----------------+ | | | 4 | ACRO | | | +-------+-----------------+ | | | 5 | FBWA | | | +-------+-----------------+ | | | 6 | FBWB | | | +-------+-----------------+ | | | 7 | CRUISE | | | +-------+-----------------+ | | | 8 | AUTOTUNE | | | +-------+-----------------+ | | | 10 | Auto | | | +-------+-----------------+ | | | 11 | RTL | | | +-------+-----------------+ | | | 12 | Loiter | | | +-------+-----------------+ | | | 13 | TAKEOFF | | | +-------+-----------------+ | | | 14 | AVOID_ADSB | | | +-------+-----------------+ | | | 15 | Guided | | | +-------+-----------------+ | | | 17 | QSTABILIZE | | | +-------+-----------------+ | | | 18 | QHOVER | | | +-------+-----------------+ | | | 19 | QLOITER | | | +-------+-----------------+ | | | 20 | QLAND | | | +-------+-----------------+ | | | 21 | QRTL | | | +-------+-----------------+ | | | 22 | QAUTOTUNE | | | +-------+-----------------+ | | | 23 | QACRO | | | +-------+-----------------+ | | | 24 | THERMAL | | | +-------+-----------------+ | | | 25 | Loiter to QLand | | | +-------+-----------------+ | | | 26 | AUTOLAND | | | +-------+-----------------+ | | | +-----------------------------+ .. _FLTMODE3: FLTMODE3: FlightMode3 ~~~~~~~~~~~~~~~~~~~~~ Flight mode for switch position 3 \(1361 to 1490\) +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Manual | | | +-------+-----------------+ | | | 1 | CIRCLE | | | +-------+-----------------+ | | | 2 | STABILIZE | | | +-------+-----------------+ | | | 3 | TRAINING | | | +-------+-----------------+ | | | 4 | ACRO | | | +-------+-----------------+ | | | 5 | FBWA | | | +-------+-----------------+ | | | 6 | FBWB | | | +-------+-----------------+ | | | 7 | CRUISE | | | +-------+-----------------+ | | | 8 | AUTOTUNE | | | +-------+-----------------+ | | | 10 | Auto | | | +-------+-----------------+ | | | 11 | RTL | | | +-------+-----------------+ | | | 12 | Loiter | | | +-------+-----------------+ | | | 13 | TAKEOFF | | | +-------+-----------------+ | | | 14 | AVOID_ADSB | | | +-------+-----------------+ | | | 15 | Guided | | | +-------+-----------------+ | | | 17 | QSTABILIZE | | | +-------+-----------------+ | | | 18 | QHOVER | | | +-------+-----------------+ | | | 19 | QLOITER | | | +-------+-----------------+ | | | 20 | QLAND | | | +-------+-----------------+ | | | 21 | QRTL | | | +-------+-----------------+ | | | 22 | QAUTOTUNE | | | +-------+-----------------+ | | | 23 | QACRO | | | +-------+-----------------+ | | | 24 | THERMAL | | | +-------+-----------------+ | | | 25 | Loiter to QLand | | | +-------+-----------------+ | | | 26 | AUTOLAND | | | +-------+-----------------+ | | | +-----------------------------+ .. _FLTMODE4: FLTMODE4: FlightMode4 ~~~~~~~~~~~~~~~~~~~~~ Flight mode for switch position 4 \(1491 to 1620\) +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Manual | | | +-------+-----------------+ | | | 1 | CIRCLE | | | +-------+-----------------+ | | | 2 | STABILIZE | | | +-------+-----------------+ | | | 3 | TRAINING | | | +-------+-----------------+ | | | 4 | ACRO | | | +-------+-----------------+ | | | 5 | FBWA | | | +-------+-----------------+ | | | 6 | FBWB | | | +-------+-----------------+ | | | 7 | CRUISE | | | +-------+-----------------+ | | | 8 | AUTOTUNE | | | +-------+-----------------+ | | | 10 | Auto | | | +-------+-----------------+ | | | 11 | RTL | | | +-------+-----------------+ | | | 12 | Loiter | | | +-------+-----------------+ | | | 13 | TAKEOFF | | | +-------+-----------------+ | | | 14 | AVOID_ADSB | | | +-------+-----------------+ | | | 15 | Guided | | | +-------+-----------------+ | | | 17 | QSTABILIZE | | | +-------+-----------------+ | | | 18 | QHOVER | | | +-------+-----------------+ | | | 19 | QLOITER | | | +-------+-----------------+ | | | 20 | QLAND | | | +-------+-----------------+ | | | 21 | QRTL | | | +-------+-----------------+ | | | 22 | QAUTOTUNE | | | +-------+-----------------+ | | | 23 | QACRO | | | +-------+-----------------+ | | | 24 | THERMAL | | | +-------+-----------------+ | | | 25 | Loiter to QLand | | | +-------+-----------------+ | | | 26 | AUTOLAND | | | +-------+-----------------+ | | | +-----------------------------+ .. _FLTMODE5: FLTMODE5: FlightMode5 ~~~~~~~~~~~~~~~~~~~~~ Flight mode for switch position 5 \(1621 to 1749\) +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Manual | | | +-------+-----------------+ | | | 1 | CIRCLE | | | +-------+-----------------+ | | | 2 | STABILIZE | | | +-------+-----------------+ | | | 3 | TRAINING | | | +-------+-----------------+ | | | 4 | ACRO | | | +-------+-----------------+ | | | 5 | FBWA | | | +-------+-----------------+ | | | 6 | FBWB | | | +-------+-----------------+ | | | 7 | CRUISE | | | +-------+-----------------+ | | | 8 | AUTOTUNE | | | +-------+-----------------+ | | | 10 | Auto | | | +-------+-----------------+ | | | 11 | RTL | | | +-------+-----------------+ | | | 12 | Loiter | | | +-------+-----------------+ | | | 13 | TAKEOFF | | | +-------+-----------------+ | | | 14 | AVOID_ADSB | | | +-------+-----------------+ | | | 15 | Guided | | | +-------+-----------------+ | | | 17 | QSTABILIZE | | | +-------+-----------------+ | | | 18 | QHOVER | | | +-------+-----------------+ | | | 19 | QLOITER | | | +-------+-----------------+ | | | 20 | QLAND | | | +-------+-----------------+ | | | 21 | QRTL | | | +-------+-----------------+ | | | 22 | QAUTOTUNE | | | +-------+-----------------+ | | | 23 | QACRO | | | +-------+-----------------+ | | | 24 | THERMAL | | | +-------+-----------------+ | | | 25 | Loiter to QLand | | | +-------+-----------------+ | | | 26 | AUTOLAND | | | +-------+-----------------+ | | | +-----------------------------+ .. _FLTMODE6: FLTMODE6: FlightMode6 ~~~~~~~~~~~~~~~~~~~~~ Flight mode for switch position 6 \(1750 to 2049\) +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Manual | | | +-------+-----------------+ | | | 1 | CIRCLE | | | +-------+-----------------+ | | | 2 | STABILIZE | | | +-------+-----------------+ | | | 3 | TRAINING | | | +-------+-----------------+ | | | 4 | ACRO | | | +-------+-----------------+ | | | 5 | FBWA | | | +-------+-----------------+ | | | 6 | FBWB | | | +-------+-----------------+ | | | 7 | CRUISE | | | +-------+-----------------+ | | | 8 | AUTOTUNE | | | +-------+-----------------+ | | | 10 | Auto | | | +-------+-----------------+ | | | 11 | RTL | | | +-------+-----------------+ | | | 12 | Loiter | | | +-------+-----------------+ | | | 13 | TAKEOFF | | | +-------+-----------------+ | | | 14 | AVOID_ADSB | | | +-------+-----------------+ | | | 15 | Guided | | | +-------+-----------------+ | | | 17 | QSTABILIZE | | | +-------+-----------------+ | | | 18 | QHOVER | | | +-------+-----------------+ | | | 19 | QLOITER | | | +-------+-----------------+ | | | 20 | QLAND | | | +-------+-----------------+ | | | 21 | QRTL | | | +-------+-----------------+ | | | 22 | QAUTOTUNE | | | +-------+-----------------+ | | | 23 | QACRO | | | +-------+-----------------+ | | | 24 | THERMAL | | | +-------+-----------------+ | | | 25 | Loiter to QLand | | | +-------+-----------------+ | | | 26 | AUTOLAND | | | +-------+-----------------+ | | | +-----------------------------+ .. _INITIAL_MODE: INITIAL\_MODE: Initial flight mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This selects the mode to start in on boot\. This is useful for when you want to start in AUTO mode on boot without a receiver\. +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Manual | | | +-------+-----------------+ | | | 1 | CIRCLE | | | +-------+-----------------+ | | | 2 | STABILIZE | | | +-------+-----------------+ | | | 3 | TRAINING | | | +-------+-----------------+ | | | 4 | ACRO | | | +-------+-----------------+ | | | 5 | FBWA | | | +-------+-----------------+ | | | 6 | FBWB | | | +-------+-----------------+ | | | 7 | CRUISE | | | +-------+-----------------+ | | | 8 | AUTOTUNE | | | +-------+-----------------+ | | | 10 | Auto | | | +-------+-----------------+ | | | 11 | RTL | | | +-------+-----------------+ | | | 12 | Loiter | | | +-------+-----------------+ | | | 13 | TAKEOFF | | | +-------+-----------------+ | | | 14 | AVOID_ADSB | | | +-------+-----------------+ | | | 15 | Guided | | | +-------+-----------------+ | | | 17 | QSTABILIZE | | | +-------+-----------------+ | | | 18 | QHOVER | | | +-------+-----------------+ | | | 19 | QLOITER | | | +-------+-----------------+ | | | 20 | QLAND | | | +-------+-----------------+ | | | 21 | QRTL | | | +-------+-----------------+ | | | 22 | QAUTOTUNE | | | +-------+-----------------+ | | | 23 | QACRO | | | +-------+-----------------+ | | | 24 | THERMAL | | | +-------+-----------------+ | | | 25 | Loiter to QLand | | | +-------+-----------------+ | | | 26 | AUTOLAND | | | +-------+-----------------+ | | | +-----------------------------+ .. _ROLL_LIMIT_DEG: ROLL\_LIMIT\_DEG: Maximum Bank Angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum bank angle commanded in modes with stabilized limits\. Increase this value for sharper turns\, but decrease to prevent accelerated stalls\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 90 | degrees | +-----------+---------+---------+ .. _PTCH_LIM_MAX_DEG: PTCH\_LIM\_MAX\_DEG: Maximum Pitch Angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum pitch up angle commanded in modes with stabilized limits\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 90 | degrees | +-----------+---------+---------+ .. _PTCH_LIM_MIN_DEG: PTCH\_LIM\_MIN\_DEG: Minimum Pitch Angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum pitch down angle commanded in modes with stabilized limits +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | -90 to 0 | degrees | +-----------+----------+---------+ .. _ACRO_ROLL_RATE: ACRO\_ROLL\_RATE: ACRO mode roll rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum roll rate at full stick deflection in ACRO mode +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 10 to 500 | degrees per second | +-----------+-----------+--------------------+ .. _ACRO_PITCH_RATE: ACRO\_PITCH\_RATE: ACRO mode pitch rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum pitch rate at full stick deflection in ACRO mode +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 10 to 500 | degrees per second | +-----------+-----------+--------------------+ .. _ACRO_YAW_RATE: ACRO\_YAW\_RATE: ACRO mode yaw rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum yaw rate at full stick deflection in ACRO mode\. If this is zero then rudder is directly controlled by rudder stick input\. This option is only available if you also set YAW\_RATE\_ENABLE to 1\. +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 500 | degrees per second | +-----------+----------+--------------------+ .. _ACRO_LOCKING: ACRO\_LOCKING: ACRO mode attitude locking ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable attitude locking when sticks are released\. If set to 2 then quaternion based locking is used if the yaw rate controller is enabled\. Quaternion based locking will hold any attitude +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | Enabled | | | +-------+------------+ | | | 2 | Quaternion | | | +-------+------------+ | | | +------------------------+ .. _GROUND_STEER_ALT: GROUND\_STEER\_ALT: Ground steer altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Altitude at which to use the ground steering controller on the rudder\. If non\-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | -100 to 100 | meters | +-----------+-------------+--------+ .. _GROUND_STEER_DPS: GROUND\_STEER\_DPS: Ground steer rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Ground steering rate in degrees per second for full rudder stick deflection +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 10 to 360 | degrees per second | +-----------+-----------+--------------------+ .. _MIXING_GAIN: MIXING\_GAIN: Mixing Gain ~~~~~~~~~~~~~~~~~~~~~~~~~ The gain for the Vtail and elevon output mixers\. The default is 0\.5\, which ensures that the mixer doesn\'t saturate\, allowing both input channels to go to extremes while retaining control over the output\. Hardware mixers often have a 1\.0 gain\, which gives more servo throw\, but can saturate\. If you don\'t have enough throw on your servos with VTAIL\_OUTPUT or ELEVON\_OUTPUT enabled then you can raise the gain using MIXING\_GAIN\. The mixer allows outputs in the range 900 to 2100 microseconds\. +------------+ | Range | +============+ | 0.5 to 1.2 | +------------+ .. _RUDDER_ONLY: RUDDER\_ONLY: Rudder only aircraft ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable rudder only mode\. The rudder will control attitude in attitude controlled modes \(such as FBWA\)\. You should setup your transmitter to send roll stick inputs to the RCMAP\_YAW channel \(normally channel 4\)\. The rudder servo should be attached to the RCMAP\_YAW channel as well\. Note that automatic ground steering will be disabled for rudder only aircraft\. You should also set KFF\_RDDRMIX to 1\.0\. You will also need to setup the YAW2SRV\_DAMP yaw damping appropriately for your aircraft\. A value of 0\.5 for YAW2SRV\_DAMP is a good starting point\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _MIXING_OFFSET: MIXING\_OFFSET: Mixing Offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The offset for the Vtail and elevon output mixers\, as a percentage\. This can be used in combination with MIXING\_GAIN to configure how the control surfaces respond to input\. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value\. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing\. The default value of zero will leave the aileron\-input response equal to the elevator\-input response\. +---------------+-------------+ | Range | Units | +===============+=============+ | -1000 to 1000 | decipercent | +---------------+-------------+ .. _DSPOILR_RUD_RATE: DSPOILR\_RUD\_RATE: Differential spoilers rudder rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the amount of deflection that the rudder output will apply to the differential spoilers\, as a percentage\. The default value of 100 results in full rudder applying full deflection\. A value of 0 will result in the differential spoilers exactly following the elevons \(no rudder effect\)\. +-------------+---------+ | Range | Units | +=============+=========+ | -100 to 100 | percent | +-------------+---------+ .. _LOG_BITMASK: LOG\_BITMASK: Log bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmap of what on\-board log types to enable\. This value is made up of the sum of each of the log types you want to be saved\. It is usually best just to enable all basic log types by setting this to 65535\. +-------------------------------+ | Bitmask | +===============================+ | +-----+---------------------+ | | | Bit | Meaning | | | +=====+=====================+ | | | 0 | Fast Attitude | | | +-----+---------------------+ | | | 1 | Medium Attitude | | | +-----+---------------------+ | | | 2 | GPS | | | +-----+---------------------+ | | | 3 | Performance | | | +-----+---------------------+ | | | 4 | Control Tuning | | | +-----+---------------------+ | | | 5 | Navigation Tuning | | | +-----+---------------------+ | | | 7 | IMU | | | +-----+---------------------+ | | | 8 | Mission Commands | | | +-----+---------------------+ | | | 9 | Battery Monitor | | | +-----+---------------------+ | | | 10 | Compass | | | +-----+---------------------+ | | | 11 | TECS | | | +-----+---------------------+ | | | 12 | Camera | | | +-----+---------------------+ | | | 13 | RC Input-Output | | | +-----+---------------------+ | | | 14 | Rangefinder | | | +-----+---------------------+ | | | 19 | Raw IMU | | | +-----+---------------------+ | | | 20 | Fullrate Attitude | | | +-----+---------------------+ | | | 21 | Video Stabilization | | | +-----+---------------------+ | | | 22 | Fullrate Notch | | | +-----+---------------------+ | | | +-------------------------------+ .. _SCALING_SPEED: SCALING\_SPEED: speed used for speed scaling calculations ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed in m\/s to use when calculating surface speed scaling\. Note that changing this value will affect all PID values +-----------+-----------+-------------------+ | Increment | Range | Units | +===========+===========+===================+ | 0.1 | 0.1 to 50 | meters per second | +-----------+-----------+-------------------+ .. _MIN_GROUNDSPEED: MIN\_GROUNDSPEED: Minimum ground speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum ground speed when under airspeed control +-------------------+ | Units | +===================+ | meters per second | +-------------------+ .. _PTCH_TRIM_DEG: PTCH\_TRIM\_DEG: Pitch angle offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset in degrees used for in\-flight pitch trimming for level flight\. Correct ground leveling is an alternative to changing this parameter\. +-----------+---------+ | Range | Units | +===========+=========+ | -45 to 45 | degrees | +-----------+---------+ .. _RTL_ALTITUDE: RTL\_ALTITUDE: RTL altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Target altitude above home for RTL mode\. Maintains current altitude if set to \-1\. Rally point altitudes are used if plane does not return to home\. +--------+ | Units | +========+ | meters | +--------+ .. _CRUISE_ALT_FLOOR: CRUISE\_ALT\_FLOOR: Minimum altitude for FBWB and CRUISE mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the minimum altitude in meters \(above home\) that FBWB and CRUISE modes will allow\. If you attempt to descend below this altitude then the plane will level off\. It will also force a climb to this altitude if below in these modes\. A value of zero means no limit\. +--------+ | Units | +========+ | meters | +--------+ .. _FLAP_1_PERCNT: FLAP\_1\_PERCNT: Flap 1 percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The percentage change in flap position when FLAP\_1\_SPEED is reached\. Use zero to disable flaps +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _FLAP_1_SPEED: FLAP\_1\_SPEED: Flap 1 speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The speed in meters per second at which to engage FLAP\_1\_PERCENT of flaps\. Note that FLAP\_1\_SPEED should be greater than or equal to FLAP\_2\_SPEED +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 1 | 0 to 100 | meters per second | +-----------+----------+-------------------+ .. _FLAP_2_PERCNT: FLAP\_2\_PERCNT: Flap 2 percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The percentage change in flap position when FLAP\_2\_SPEED is reached\. Use zero to disable flaps +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _FLAP_2_SPEED: FLAP\_2\_SPEED: Flap 2 speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The speed in meters per second at which to engage FLAP\_2\_PERCENT of flaps\. Note that FLAP\_1\_SPEED should be greater than or equal to FLAP\_2\_SPEED +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 1 | 0 to 100 | meters per second | +-----------+----------+-------------------+ .. _OVERRIDE_CHAN: OVERRIDE\_CHAN: IO override channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If set to a non\-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co\-processor fails\. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos\. Note that IO manual control will be automatically activated if the FMU crashes for any reason\. This parameter allows you to test for correct manual behaviour without actually crashing the FMU\. This parameter is can be set to a non\-zero value either for ground testing purposes or for giving the effect of an external override control board\. Note that you may set OVERRIDE\_CHAN to the same channel as FLTMODE\_CH to get IO based override when in flight mode 6\. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated\, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 16 | +-----------+---------+ .. _RTL_AUTOLAND: RTL\_AUTOLAND: RTL auto land ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Automatically begin landing sequence after arriving at RTL location\. This requires the addition of a DO\_LAND\_START mission item\, which acts as a marker for the start of a landing sequence\. The closest landing sequence will be chosen to the current location For a value of 1 a rally point will be used instead of HOME if in range \(see rally point documentation\)\.If this is set to 0 and there is a DO\_LAND\_START or DO\_RETURN\_PATH\_START mission item then you will get an arming check failure\. You can set to a value of 3 to avoid the arming check failure and use the DO\_LAND\_START for go\-around \(see wiki for aborting autolandings\) without it changing RTL behaviour\. +-----------------------------------------------------------------------------------+ | Values | +===================================================================================+ | +-------+-----------------------------------------------------------------------+ | | | Value | Meaning | | | +=======+=======================================================================+ | | | 0 | Disable | | | +-------+-----------------------------------------------------------------------+ | | | 1 | Fly HOME then land via DO_LAND_START mission item | | | +-------+-----------------------------------------------------------------------+ | | | 2 | Go directly to landing sequence via DO_LAND_START mission item | | | +-------+-----------------------------------------------------------------------+ | | | 3 | OnlyForGoAround | | | +-------+-----------------------------------------------------------------------+ | | | 4 | Go directly to landing sequence via DO_RETURN_PATH_START mission item | | | +-------+-----------------------------------------------------------------------+ | | | +-----------------------------------------------------------------------------------+ .. _CRASH_ACC_THRESH: CRASH\_ACC\_THRESH: Crash Deceleration Threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X\-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash\. This value should be much higher than normal negative x\-axis forces during normal flight\, check flight log files to determine the average IMU\.x values for your aircraft and motor type\. Higher value means less sensitive \(triggers on higher impact\)\. For electric planes that don\'t vibrate much during fight a value of 25 is good \(that\'s about 2\.5G\)\. For petrol\/nitro planes you\'ll want a higher value\. Set to 0 to disable the collision detector\. +-----------+----------+--------------------------+ | Increment | Range | Units | +===========+==========+==========================+ | 1 | 0 to 127 | meters per square second | +-----------+----------+--------------------------+ .. _CRASH_DETECT: CRASH\_DETECT: Crash Detection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Automatically detect a crash during AUTO flight and perform the bitmask selected action\(s\)\. Disarm will turn off motor for safety and to help against burning out ESC and motor\. Set to 0 to disable crash detection\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 0 | Disarm | | | +-----+---------+ | | | +-------------------+ .. _RNGFND_LANDING: RNGFND\_LANDING: Enable use of rangefinder ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the use of a rangefinder for automatic landing and other use cases\. When enabled for landing and takeoff the rangefinder will be used both on the landing approach and for final flare as well as as VTOL landing and for takeoffs and throttle suppression when close to the ground\. When enabled for assist the rangefinder will be used for VTOL assistance\. When enabled for climb the rangefinder will be used for the initial climb in QRTL and AUTO\. Set to 0 to disable use of the rangefinder\. +-----------------------------+ | Bitmask | +=============================+ | +-----+-------------------+ | | | Bit | Meaning | | | +=====+===================+ | | | 0 | All | | | +-----+-------------------+ | | | 1 | TakeoffAndLanding | | | +-----+-------------------+ | | | 2 | Assist | | | +-----+-------------------+ | | | 3 | InitialClimb | | | +-----+-------------------+ | | | +-----------------------------+ .. _RUDD_DT_GAIN: RUDD\_DT\_GAIN: rudder differential thrust gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ gain control from rudder to differential thrust +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _MANUAL_RCMASK: MANUAL\_RCMASK: Manual R\/C pass\-through mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mask of R\/C channels to pass directly to corresponding output channel when in MANUAL mode\. When in any mode except MANUAL the channels selected with this option behave normally\. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing\. Note that when this option is used you need to be very careful with pre\-flight checks to ensure that the output is correct both in MANUAL and non\-MANUAL modes\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 0 | Chan1 | | | +-----+---------+ | | | 1 | Chan2 | | | +-----+---------+ | | | 2 | Chan3 | | | +-----+---------+ | | | 3 | Chan4 | | | +-----+---------+ | | | 4 | Chan5 | | | +-----+---------+ | | | 5 | Chan6 | | | +-----+---------+ | | | 6 | Chan7 | | | +-----+---------+ | | | 7 | Chan8 | | | +-----+---------+ | | | 8 | Chan9 | | | +-----+---------+ | | | 9 | Chan10 | | | +-----+---------+ | | | 10 | Chan11 | | | +-----+---------+ | | | 11 | Chan12 | | | +-----+---------+ | | | 12 | Chan13 | | | +-----+---------+ | | | 13 | Chan14 | | | +-----+---------+ | | | 14 | Chan15 | | | +-----+---------+ | | | 15 | Chan16 | | | +-----+---------+ | | | +-------------------+ .. _HOME_RESET_ALT: HOME\_RESET\_ALT: Home reset altitude threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When the aircraft is within this altitude of the home waypoint\, while disarmed it will automatically update the home position\. Set to 0 to continuously reset it\. +-----------+--------+--------------------------+ | Range | Units | Values | +===========+========+==========================+ | -1 to 127 | meters | +-------+--------------+ | | | | | Value | Meaning | | | | | +=======+==============+ | | | | | -1 | Never reset | | | | | +-------+--------------+ | | | | | 0 | Always reset | | | | | +-------+--------------+ | | | | | +-----------+--------+--------------------------+ .. _FLIGHT_OPTIONS: FLIGHT\_OPTIONS: Flight mode options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Flight mode specific options +------------------------------------------------------------------------------------------------------------------------------+ | Bitmask | +==============================================================================================================================+ | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+====================================================================================================================+ | | | 0 | Rudder mixing in direct flight modes only (Manual/Stabilize/Acro) | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 1 | Use centered throttle in Cruise or FBWB to indicate AIRSPEED_CRUISE | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 2 | Disable attitude check for takeoff arming | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 3 | Force target airspeed to AIRSPEED_CRUISE in Cruise or FBWB | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 4 | Climb to RTL_ALTITUDE before turning for RTL | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 5 | Enable yaw damper in acro mode | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 6 | Suppress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor. | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 7 | EnableDefaultAirspeed for takeoff | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 8 | Remove the PTCH_TRIM_DEG on the GCS horizon | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 9 | Remove the PTCH_TRIM_DEG on the OSD horizon | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 10 | Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 11 | Disable suppression of fixed wing rate gains in ground mode | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 12 | Enable FBWB style loiter altitude control | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 13 | Indicate takeoff waiting for neutral rudder with flight control surfaces | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 14 | In AUTO - climb to next waypoint altitude immediately instead of linear climb | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 15 | Enable autoflap in manual modes and use minimum of target and actual speed for flap setting | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 16 | Enable full aerodynamic load factor-based roll limits when an airspeed sensor is enabled and AIRSPEED_STALL is set | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | 17 | Reset ALT_OFFSET on flight mode or AUTO waypoint changes | | | +-----+--------------------------------------------------------------------------------------------------------------------+ | | | +------------------------------------------------------------------------------------------------------------------------------+ .. _TKOFF_ACCEL_CNT: TKOFF\_ACCEL\_CNT: Takeoff throttle acceleration count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the number of acceleration events to require for arming with TKOFF\_THR\_MINACC\. The default is 1\, which means a single forward acceleration above TKOFF\_THR\_MINACC will arm\. By setting this higher than 1 you can require more forward\/backward movements to arm\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _DSPOILER_CROW_W1: DSPOILER\_CROW\_W1: Differential spoiler crow flaps outer weight ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps\. It is a number from 0 to 100\. At zero no crow flaps are applied\. A recommended starting value is 25\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _DSPOILER_CROW_W2: DSPOILER\_CROW\_W2: Differential spoiler crow flaps inner weight ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps\. It is a number from 0 to 100\. At zero no crow flaps are applied\. A recommended starting value is 45\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _TKOFF_TIMEOUT: TKOFF\_TIMEOUT: Takeoff timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the timeout for an automatic takeoff\. If this is non\-zero and the aircraft does not reach a ground speed of at least 4 m\/s within this number of seconds then the takeoff is aborted and the vehicle disarmed\. If the value is zero then no timeout applies\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _DSPOILER_OPTS: DSPOILER\_OPTS: Differential spoiler and crow flaps options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Differential spoiler and crow flaps options\. Progressive crow flaps only first \(0\-50\% flap in\) then crow flaps \(50 \- 100\% flap in\)\. +-----------------------------------------------------------+ | Bitmask | +===========================================================+ | +-----+-------------------------------------------------+ | | | Bit | Meaning | | | +=====+=================================================+ | | | 0 | Pitch input | | | +-----+-------------------------------------------------+ | | | 1 | use both control surfaces on each wing for roll | | | +-----+-------------------------------------------------+ | | | 2 | Progressive crow flaps | | | +-----+-------------------------------------------------+ | | | +-----------------------------------------------------------+ .. _DSPOILER_AILMTCH: DSPOILER\_AILMTCH: Differential spoiler aileron matching ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons\, 100 is use full range\, upwards travel is unaffected +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _FWD_BAT_VOLT_MAX: FWD\_BAT\_VOLT\_MAX: Forward throttle battery voltage compensation maximum voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Forward throttle battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled\. Recommend THR\_MAX is set to no more than 100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX\, THR\_MIN is set to no less than \-100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX and climb descent rate limits are set accordingly\. +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 0.1 | 6 to 35 | volt | +-----------+---------+-------+ .. _FWD_BAT_VOLT_MIN: FWD\_BAT\_VOLT\_MIN: Forward throttle battery voltage compensation minimum voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Forward throttle battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.5 \* cell count\, 0 \= Disabled\. Recommend THR\_MAX is set to no more than 100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX\, THR\_MIN is set to no less than \-100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX and climb descent rate limits are set accordingly\. +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 0.1 | 6 to 35 | volt | +-----------+---------+-------+ .. _FWD_BAT_IDX: FWD\_BAT\_IDX: Forward throttle battery compensation index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Which battery monitor should be used for doing compensation for the forward throttle +---------+----------------------------+ | Range | Values | +=========+============================+ | 0 to 15 | +-------+----------------+ | | | | Value | Meaning | | | | +=======+================+ | | | | 0 | First battery | | | | +-------+----------------+ | | | | 1 | Second battery | | | | +-------+----------------+ | | | | +---------+----------------------------+ .. _FS_EKF_THRESH: FS\_EKF\_THRESH: EKF failsafe variance threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes +------------+---------------------+ | Range | Values | +============+=====================+ | 0.6 to 1.0 | +-------+---------+ | | | | Value | Meaning | | | | +=======+=========+ | | | | 0.6 | Strict | | | | +-------+---------+ | | | | 0.8 | Default | | | | +-------+---------+ | | | | 1.0 | Relaxed | | | | +-------+---------+ | | | | +------------+---------------------+ .. _RTL_CLIMB_MIN: RTL\_CLIMB\_MIN: RTL minimum climb ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The vehicle will climb this many m during the initial climb portion of the RTL\. During this time the roll will be limited to LEVEL\_ROLL\_LIMIT degrees\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 1 | 0 to 30 | meters | +-----------+---------+--------+ .. _MAN_EXPO_ROLL: MAN\_EXPO\_ROLL: Manual control expo for roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Percentage exponential for roll input in MANUAL\, ACRO and TRAINING modes +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 100 | +-----------+----------+ .. _MAN_EXPO_PITCH: MAN\_EXPO\_PITCH: Manual input expo for pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Percentage exponential for pitch input in MANUAL\, ACRO and TRAINING modes +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 100 | +-----------+----------+ .. _MAN_EXPO_RUDDER: MAN\_EXPO\_RUDDER: Manual input expo for rudder ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Percentage exponential for rudder input in MANUAL\, ACRO and TRAINING modes +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 100 | +-----------+----------+ .. _ONESHOT_MASK: ONESHOT\_MASK: Oneshot output mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mask of output channels to use oneshot on +--------------------+ | 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 | | | +-----+----------+ | | | +--------------------+ .. _AUTOTUNE_AXES: AUTOTUNE\_AXES: Autotune axis bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1\-byte bitmap of axes to autotune +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 0 | Roll | | | +-----+---------+ | | | 1 | Pitch | | | +-----+---------+ | | | 2 | Yaw | | | +-----+---------+ | | | +-------------------+ .. _RNGFND_LND_ORNT: RNGFND\_LND\_ORNT: rangefinder landing orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The orientation of rangefinder to use for landing detection\. Should be set to Down for normal downward facing rangefinder and Back for rearward facing rangefinder for quadplane tailsitters\. Custom orientation can be used with Custom1 or Custom2\. The orientation must match at least one of the available rangefinders\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 4 | Back | | | +-------+---------+ | | | 25 | Down | | | +-------+---------+ | | | 101 | Custom1 | | | +-------+---------+ | | | 102 | Custom2 | | | +-------+---------+ | | | +---------------------+ .. _FWD_BAT_THR_CUT: FWD\_BAT\_THR\_CUT: Forward throttle cutoff battery voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The estimated battery resting voltage below which the throttle is cut in auto\-throttle modes\. Measured on the battery used for forward throttle compensation \(FWD\_BAT\_IDX\)\. If set to zero\, the throttle will not be cut due to low voltage\, allowing the motor\(s\) to continue running until the battery is depleted\. This should be set to the minimum operating voltage of you motor\(s\) or to a voltage level where minimal thrust is produced\, to conserve the remaining battery power for the electronics and actuators\. +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 0.1 | 0 to 35 | volt | +-----------+---------+-------+ .. _CLIMB_SLOPE_HGT: CLIMB\_SLOPE\_HGT: Climb slope minimum height ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the minimum height above home at which the aircraft will apply a climb slope between waypoints\. Below it\, the aircraft will ascend immediately\, and will only resume the requested trajectory upon reaching this height\. This prevents unsafe behavior such as attempting to slowly gain altitude near obstacles\. The default value ensures safe operations in most environments\, but it can be adjusted based on specific terrain or operational needs\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 1 | 0 to 50 | meters | +-----------+---------+--------+ .. _GUIDED_TIMEOUT: GUIDED\_TIMEOUT: Timeout for external guided command\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If external guided command was not received by this timeout\, the vehicle will revert to regular GUIDED mode\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.5 | 0 to 10 | seconds | +-----------+---------+---------+ .. _RNGFND_LND_DIST: RNGFND\_LND\_DIST: Rangefinder landing engagement distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The horizontal distance to the landing point at which the rangefinder engages when RNGFND\_LANDING is enabled\. This is useful for landing on platforms or small plateaus\, and to avoid interference from uneven terrain or obstacles on approach\. A value of 0 engages the rangefinder as soon as it reports valid readings within its range limits\. Very small values are not recommended unless required by the landing scenario\, as they can force large slope corrections near the ground\, increase auto\-abort frequency if LAND\_ABORT\_DEG is set\, and provide no slope\-correction benefit if the rangefinder is engaged after flare\. +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 0 to 500 | meters | +-----------+----------+--------+ .. _parameters_VEHICLE: VEHICLE Parameters ------------------ .. _FLTMODE_GCSBLOCK: FLTMODE\_GCSBLOCK: Flight mode block from GCS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask of flight modes to disable for GCS selection\. Mode can still be accessed via RC or failsafe\. +---------------------------+ | Bitmask | +===========================+ | +-----+-----------------+ | | | Bit | Meaning | | | +=====+=================+ | | | 0 | Manual | | | +-----+-----------------+ | | | 1 | Circle | | | +-----+-----------------+ | | | 2 | Stabilize | | | +-----+-----------------+ | | | 3 | Training | | | +-----+-----------------+ | | | 4 | ACRO | | | +-----+-----------------+ | | | 5 | FBWA | | | +-----+-----------------+ | | | 6 | FBWB | | | +-----+-----------------+ | | | 7 | CRUISE | | | +-----+-----------------+ | | | 8 | AUTOTUNE | | | +-----+-----------------+ | | | 9 | Auto | | | +-----+-----------------+ | | | 10 | Loiter | | | +-----+-----------------+ | | | 11 | Takeoff | | | +-----+-----------------+ | | | 12 | AVOID_ADSB | | | +-----+-----------------+ | | | 13 | Guided | | | +-----+-----------------+ | | | 14 | THERMAL | | | +-----+-----------------+ | | | 15 | QSTABILIZE | | | +-----+-----------------+ | | | 16 | QHOVER | | | +-----+-----------------+ | | | 17 | QLOITER | | | +-----+-----------------+ | | | 18 | QACRO | | | +-----+-----------------+ | | | 19 | QAUTOTUNE | | | +-----+-----------------+ | | | 20 | Loiter to QLand | | | +-----+-----------------+ | | | 21 | Autoland | | | +-----+-----------------+ | | | +---------------------------+ .. _parameters_ADSB_: ADSB\_ Parameters ----------------- .. _ADSB_TYPE: ADSB\_TYPE: ADSB Type ~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Type of ADS\-B hardware for ADSB\-in and ADSB\-out configuration and operation\. Incoming MAVLink ADSB\_VEHICLE messages are processed for any non\-zero type\. Select 1 \(MAVLink\) either for a MAVLink\-connected transceiver such as the uAvionix ping\, or to process ADSB\_VEHICLE messages forwarded from a companion computer with no ADS\-B hardware attached\. ADSB\-out is only sent once a transceiver reports its health\, so with no hardware attached this type is receive\-only\. +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | Value | Meaning | | | +=======+====================+ | | | 0 | Disabled | | | +-------+--------------------+ | | | 1 | MAVLink | | | +-------+--------------------+ | | | 2 | Sagetech | | | +-------+--------------------+ | | | 3 | uAvionix-UCP | | | +-------+--------------------+ | | | 4 | Sagetech MX Series | | | +-------+--------------------+ | | | +--------------------------------+ .. _ADSB_LIST_MAX: ADSB\_LIST\_MAX: ADSB vehicle list size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* ADSB list size of nearest vehicles\. Longer lists take longer to refresh with lower SRx\_ADSB values\. +----------+ | Range | +==========+ | 1 to 100 | +----------+ .. _ADSB_LIST_RADIUS: ADSB\_LIST\_RADIUS: ADSB vehicle list radius filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ADSB vehicle list radius filter\. Vehicles detected outside this radius will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. +-------------+--------+ | Range | Units | +=============+========+ | 0 to 100000 | meters | +-------------+--------+ .. _ADSB_ICAO_ID: ADSB\_ICAO\_ID: ICAO\_ID vehicle identification number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ICAO\_ID unique vehicle identification number of this aircraft\. This is an integer limited to 24bits\. If set to 0 then one will be randomly generated\. If set to \-1 then static information is not sent\, transceiver is assumed pre\-programmed\. +----------------+ | Range | +================+ | -1 to 16777215 | +----------------+ .. _ADSB_EMIT_TYPE: ADSB\_EMIT\_TYPE: Emitter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ADSB classification for the type of vehicle emitting the transponder signal\. Default value is 14 \(UAV\)\. +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | NoInfo | | | +-------+------------------+ | | | 1 | Light | | | +-------+------------------+ | | | 2 | Small | | | +-------+------------------+ | | | 3 | Large | | | +-------+------------------+ | | | 4 | HighVortexlarge | | | +-------+------------------+ | | | 5 | Heavy | | | +-------+------------------+ | | | 6 | HighlyManuv | | | +-------+------------------+ | | | 7 | Rotocraft | | | +-------+------------------+ | | | 8 | RESERVED | | | +-------+------------------+ | | | 9 | Glider | | | +-------+------------------+ | | | 10 | LightAir | | | +-------+------------------+ | | | 11 | Parachute | | | +-------+------------------+ | | | 12 | UltraLight | | | +-------+------------------+ | | | 13 | RESERVED | | | +-------+------------------+ | | | 14 | UAV | | | +-------+------------------+ | | | 15 | Space | | | +-------+------------------+ | | | 16 | RESERVED | | | +-------+------------------+ | | | 17 | EmergencySurface | | | +-------+------------------+ | | | 18 | ServiceSurface | | | +-------+------------------+ | | | 19 | PointObstacle | | | +-------+------------------+ | | | +------------------------------+ .. _ADSB_LEN_WIDTH: ADSB\_LEN\_WIDTH: Aircraft length and width ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Aircraft length and width dimension options in Length and Width in meters\. In most cases\, use a value of 1 for smallest size\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | NO_DATA | | | +-------+----------+ | | | 1 | L15W23 | | | +-------+----------+ | | | 2 | L25W28P5 | | | +-------+----------+ | | | 3 | L25W34 | | | +-------+----------+ | | | 4 | L35W33 | | | +-------+----------+ | | | 5 | L35W38 | | | +-------+----------+ | | | 6 | L45W39P5 | | | +-------+----------+ | | | 7 | L45W45 | | | +-------+----------+ | | | 8 | L55W45 | | | +-------+----------+ | | | 9 | L55W52 | | | +-------+----------+ | | | 10 | L65W59P5 | | | +-------+----------+ | | | 11 | L65W67 | | | +-------+----------+ | | | 12 | L75W72P5 | | | +-------+----------+ | | | 13 | L75W80 | | | +-------+----------+ | | | 14 | L85W80 | | | +-------+----------+ | | | 15 | L85W90 | | | +-------+----------+ | | | +----------------------+ .. _ADSB_OFFSET_LAT: ADSB\_OFFSET\_LAT: GPS antenna lateral offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS antenna lateral offset\. This describes the physical location offset from center of the GPS antenna on the aircraft\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | NoData | | | +-------+---------+ | | | 1 | Left2m | | | +-------+---------+ | | | 2 | Left4m | | | +-------+---------+ | | | 3 | Left6m | | | +-------+---------+ | | | 4 | Center | | | +-------+---------+ | | | 5 | Right2m | | | +-------+---------+ | | | 6 | Right4m | | | +-------+---------+ | | | 7 | Right6m | | | +-------+---------+ | | | +---------------------+ .. _ADSB_OFFSET_LON: ADSB\_OFFSET\_LON: GPS antenna longitudinal offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* GPS antenna longitudinal offset\. This is usually set to 1\, Applied By Sensor +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | NO_DATA | | | +-------+-----------------+ | | | 1 | AppliedBySensor | | | +-------+-----------------+ | | | +-----------------------------+ .. _ADSB_RF_SELECT: ADSB\_RF\_SELECT: Transceiver RF selection ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Transceiver RF selection for Rx enable and\/or Tx enable\. This only effects devices that can Tx and\/or Rx\. Rx\-only devices should override this to always be Rx\-only\. +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 0 | Rx | | | +-----+---------+ | | | 1 | Tx | | | +-----+---------+ | | | +-------------------+ .. _ADSB_SQUAWK: ADSB\_SQUAWK: Squawk code ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* VFR squawk \(Mode 3\/A\) code is a pre\-programmed default code when the pilot is flying VFR and not in contact with ATC\. In the USA\, the VFR squawk code is octal 1200 \(hex 0x280\, decimal 640\) and in most parts of Europe the VFR squawk code is octal 7000\. If an invalid octal number is set then it will be reset to 1200\. +-----------+-------+ | Range | Units | +===========+=======+ | 0 to 7777 | octal | +-----------+-------+ .. _ADSB_RF_CAPABLE: ADSB\_RF\_CAPABLE: RF capabilities ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Describes your hardware RF In\/Out capabilities\. +----------------------+ | Bitmask | +======================+ | +-----+------------+ | | | Bit | Meaning | | | +=====+============+ | | | 0 | UAT_in | | | +-----+------------+ | | | 1 | 1090ES_in | | | +-----+------------+ | | | 2 | UAT_out | | | +-----+------------+ | | | 3 | 1090ES_out | | | +-----+------------+ | | | +----------------------+ .. _ADSB_LIST_ALT: ADSB\_LIST\_ALT: ADSB vehicle list altitude filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ADSB vehicle list altitude filter\. Vehicles detected more than this altitude above our own altitude will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. +------------+--------+ | Range | Units | +============+========+ | 0 to 32767 | meters | +------------+--------+ .. _ADSB_ICAO_SPECL: ADSB\_ICAO\_SPECL: ICAO\_ID of special vehicle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* ICAO\_ID of special vehicle that ignores ADSB\_LIST\_RADIUS and ADSB\_LIST\_ALT\. The vehicle is always tracked\. Use 0 to disable\. .. _ADSB_LOG: ADSB\_LOG: ADS\-B logging ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* 0\: no logging\, 1\: log only special ID\, 2\:log all +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | Value | Meaning | | | +=======+=====================+ | | | 0 | no logging | | | +-------+---------------------+ | | | 1 | log only special ID | | | +-------+---------------------+ | | | 2 | log all | | | +-------+---------------------+ | | | +---------------------------------+ .. _ADSB_OPTIONS: ADSB\_OPTIONS: ADS\-B Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Options for emergency failsafe codes and device capabilities +-------------------------------------------------------------------------------------------------+ | Bitmask | +=================================================================================================+ | +-----+---------------------------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+=======================================================================================+ | | | 0 | Ping200X Send GPS | | | +-----+---------------------------------------------------------------------------------------+ | | | 1 | Squawk 7400 on RC failsafe | | | +-----+---------------------------------------------------------------------------------------+ | | | 2 | Squawk 7400 on GCS failsafe | | | +-----+---------------------------------------------------------------------------------------+ | | | 3 | Sagetech MXS use External Config | | | +-----+---------------------------------------------------------------------------------------+ | | | 4 | Transmit in traditional Mode 3A/C only and inhibit Mode-S and ES (ADSB) transmissions | | | +-----+---------------------------------------------------------------------------------------+ | | | +-------------------------------------------------------------------------------------------------+ .. _parameters_AFS_: AFS\_ Parameters ---------------- .. _AFS_ENABLE: AFS\_ENABLE: Enable Advanced Failsafe ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the advanced failsafe system\. If this is set to zero \(disable\) then all the other AFS options have no effect .. _AFS_MAN_PIN: AFS\_MAN\_PIN: Manual Pin ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a digital output pin to set high when in manual mode\. See the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. .. _AFS_HB_PIN: AFS\_HB\_PIN: Heartbeat Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a digital output pin which is cycled at 10Hz when termination is not activated\. Note that if a FS\_TERM\_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated\, to allow the termination board to distinguish between autopilot crash and termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-----------+-------------------------------+ | Range | Values | +===========+===============================+ | -1 to 127 | +-------+-------------------+ | | | | 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 | | | | +-------+-------------------+ | | | | +-----------+-------------------------------+ .. _AFS_WP_COMMS: AFS\_WP\_COMMS: Comms Waypoint ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Waypoint number to navigate to on comms loss .. _AFS_WP_GPS_LOSS: AFS\_WP\_GPS\_LOSS: GPS Loss Waypoint ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Waypoint number to navigate to on GPS lock loss .. _AFS_TERMINATE: AFS\_TERMINATE: Force Terminate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Can be set in flight to force termination of the heartbeat signal .. _AFS_TERM_ACTION: AFS\_TERM\_ACTION: Terminate action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This can be used to force an action on flight termination\. Normally this is handled by an external failsafe board\, but you can setup ArduPilot to handle it here\. Please consult the wiki for more information on the possible values of the parameter .. _AFS_TERM_PIN: AFS\_TERM\_PIN: Terminate Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a digital output pin to set high on flight termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-----------+-------------------------------+ | Range | Values | +===========+===============================+ | -1 to 127 | +-------+-------------------+ | | | | 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 | | | | +-------+-------------------+ | | | | +-----------+-------------------------------+ .. _AFS_AMSL_LIMIT: AFS\_AMSL\_LIMIT: AMSL limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the AMSL \(above mean sea level\) altitude limit\. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced\. Note that this limit is in meters\, whereas pressure altitude limits are often quoted in feet\. A value of zero disables the pressure altitude limit\. +--------+ | Units | +========+ | meters | +--------+ .. _AFS_AMSL_ERR_GPS: AFS\_AMSL\_ERR\_GPS: Error margin for GPS based AMSL limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets margin for error in GPS derived altitude limit\. This error margin is only used if the barometer has failed\. If the barometer fails then the GPS will be used to enforce the AMSL\_LIMIT\, but this margin will be subtracted from the AMSL\_LIMIT first\, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached\. OBC users should set this to comply with their D2 safety case\. A value of \-1 will mean that barometer failure will lead to immediate termination\. +--------+ | Units | +========+ | meters | +--------+ .. _AFS_QNH_PRESSURE: AFS\_QNH\_PRESSURE: QNH pressure ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit\. A value of zero disables the altitude limit\. +-------------+ | Units | +=============+ | hectopascal | +-------------+ .. _AFS_MAX_GPS_LOSS: AFS\_MAX\_GPS\_LOSS: Maximum number of GPS loss events ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery\. Use zero to allow for any number of GPS loss events\. .. _AFS_MAX_COM_LOSS: AFS\_MAX\_COM\_LOSS: Maximum number of comms loss events ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery\. Use zero to allow for any number of comms loss events\. .. _AFS_GEOFENCE: AFS\_GEOFENCE: Enable geofence Advanced Failsafe ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the geofence part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 .. _AFS_RC: AFS\_RC: Enable RC Advanced Failsafe ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the RC part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 .. _AFS_RC_MAN_ONLY: AFS\_RC\_MAN\_ONLY: Enable RC Termination only in manual control modes ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If this parameter is set to 1\, then an RC loss will only cause the plane to terminate in manual control modes\. If it is 0\, then the plane will terminate in any flight mode\. .. _AFS_DUAL_LOSS: AFS\_DUAL\_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the dual loss termination part of the AFS system\. If this parameter is 1 and both GPS and the ground control station fail simultaneously\, this will be considered a \"dual loss\" and cause termination\. .. _AFS_RC_FAIL_TIME: AFS\_RC\_FAIL\_TIME: RC failure time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost\. For the OBC rules this should be \(1\.5\)\. Use 0 to disable\. +---------+ | Units | +=========+ | seconds | +---------+ .. _AFS_MAX_RANGE: AFS\_MAX\_RANGE: Max allowed range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the maximum range of the vehicle in kilometers from first arming\. If the vehicle goes beyond this range then the TERM\_ACTION is performed\. A value of zero disables this feature\. +------------+ | Units | +============+ | kilometers | +------------+ .. _AFS_OPTIONS: AFS\_OPTIONS: AFS options ~~~~~~~~~~~~~~~~~~~~~~~~~ See description for each bitmask bit description +-----------------------------------------------------------------------------------------------------------------------------+ | Bitmask | +=============================================================================================================================+ | +-----+-------------------------------------------------------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+===================================================================================================================+ | | | 0 | Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) | | | +-----+-------------------------------------------------------------------------------------------------------------------+ | | | 1 | Enable AFS for all autonomous modes (not just AUTO) | | | +-----+-------------------------------------------------------------------------------------------------------------------+ | | | 2 | Option to not jump to AFS_WP_COMMS if already in the return path | | | +-----+-------------------------------------------------------------------------------------------------------------------+ | | | +-----------------------------------------------------------------------------------------------------------------------------+ .. _AFS_GCS_TIMEOUT: AFS\_GCS\_TIMEOUT: GCS timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The time \(in seconds\) of persistent data link loss before GCS failsafe occurs\. +---------+ | Units | +=========+ | seconds | +---------+ .. _parameters_AHRS_: AHRS\_ Parameters ----------------- .. _AHRS_GPS_GAIN: AHRS\_GPS\_GAIN: AHRS GPS gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls how much to use the GPS to correct the attitude\. This should never be set to zero for a plane as it would result in the plane losing control in turns\. For a plane please use the default value of 1\.0\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.01 | 0.0 to 1.0 | +-----------+------------+ .. _AHRS_GPS_USE: AHRS\_GPS\_USE: AHRS use GPS for DCM navigation and position\-down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls whether to use dead\-reckoning or GPS based navigation\. If set to 0 then the GPS won\'t be used for navigation\, and only dead reckoning will be used\. A value of zero should never be used for normal flight\. Currently this affects only the DCM\-based AHRS\: the EKF uses GPS according to its own parameters\. A value of 2 means to use GPS for height as well as position \- both in DCM estimation and when determining altitude\-above\-home\. +-------------------------------------------------+ | 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_AIS_: AIS\_ Parameters ---------------- .. _AIS_TYPE: AIS\_TYPE: AIS receiver type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* AIS receiver type +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | Value | Meaning | | | +=======+====================+ | | | 0 | None | | | +-------+--------------------+ | | | 1 | NMEA AIVDM message | | | +-------+--------------------+ | | | +--------------------------------+ .. _AIS_LIST_MAX: AIS\_LIST\_MAX: AIS vessel list size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* AIS list size of nearest vessels\. Longer lists take longer to refresh with lower SRx\_ADSB values\. +----------+ | Range | +==========+ | 1 to 100 | +----------+ .. _AIS_TIME_OUT: AIS\_TIME\_OUT: AIS vessel time out ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* if no updates are received in this time a vessel will be removed from the list +-----------+---------+ | Range | Units | +===========+=========+ | 1 to 2000 | seconds | +-----------+---------+ .. _AIS_LOGGING: AIS\_LOGGING: AIS logging options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of AIS logging options +-----------------------------------------------+ | Bitmask | +===============================================+ | +-----+-------------------------------------+ | | | Bit | Meaning | | | +=====+=====================================+ | | | 0 | Log all AIVDM messages | | | +-----+-------------------------------------+ | | | 1 | Log only unsupported AIVDM messages | | | +-----+-------------------------------------+ | | | 2 | Log decoded messages | | | +-----+-------------------------------------+ | | | +-----------------------------------------------+ .. _parameters_ARMING_: ARMING\_ Parameters ------------------- .. _ARMING_BBOX_SPD: ARMING\_BBOX\_SPD: Blackbox speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is a 3D GPS speed threshold above which we will force arm the vehicle to start logging\. WARNING\: This should only be used on a vehicle with no propellers attached to the flight controller and when the flight controller is not in control of the vehicle\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 1 | 1 to 20 | meters per second | +-----------+---------+-------------------+ .. _ARMING_REQUIRE: ARMING\_REQUIRE: Require Arming Motors ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Arming disabled until some requirements are met\. If 0\, there are no requirements \(arm immediately\)\. If 1\, sends the minimum throttle PWM value to the throttle channel when disarmed\. If 2\, send 0 PWM \(no signal\) to throttle channel when disarmed\. On planes with ICE enabled and the throttle while disarmed option set in ICE\_OPTIONS\, the motor will always get THR\_MIN when disarmed\. Arming will be blocked until all mandatory and non\-ARMING\_SKIPCHK items are satisfied\; arming can then be accomplished via \(eg\.\) rudder gesture or GCS command\. +--------------------------------------------+ | Values | +============================================+ | +-------+--------------------------------+ | | | Value | Meaning | | | +=======+================================+ | | | 0 | Disabled | | | +-------+--------------------------------+ | | | 1 | Yes(minimum PWM when disarmed) | | | +-------+--------------------------------+ | | | 2 | Yes(0 PWM when disarmed) | | | +-------+--------------------------------+ | | | +--------------------------------------------+ .. _ARMING_ACCTHRESH: ARMING\_ACCTHRESH: Accelerometer error threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\. +-------------+--------------------------+ | Range | Units | +=============+==========================+ | 0.25 to 3.0 | meters per square second | +-------------+--------------------------+ .. _ARMING_RUDDER: ARMING\_RUDDER: Arming with Rudder enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works with throttle at zero \+\- deadzone \(RCx\_DZ\)\. Depending on vehicle type\, arming in certain modes is prevented\. See the wiki for each vehicle\. Caution is recommended when arming if it is allowed in an auto\-throttle mode\! +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | Disabled | | | +-------+-------------+ | | | 1 | ArmingOnly | | | +-------+-------------+ | | | 2 | ArmOrDisarm | | | +-------+-------------+ | | | +-------------------------+ .. _ARMING_MIS_ITEMS: ARMING\_MIS\_ITEMS: Required mission items ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of mission items that are required to be planned in order to arm the aircraft +-------------------------+ | Bitmask | +=========================+ | +-----+---------------+ | | | Bit | Meaning | | | +=====+===============+ | | | 0 | Land | | | +-----+---------------+ | | | 1 | VTOL Land | | | +-----+---------------+ | | | 2 | DO_LAND_START | | | +-----+---------------+ | | | 3 | Takeoff | | | +-----+---------------+ | | | 4 | VTOL Takeoff | | | +-----+---------------+ | | | 5 | Rallypoint | | | +-----+---------------+ | | | 6 | RTL | | | +-----+---------------+ | | | +-------------------------+ .. _ARMING_OPTIONS: ARMING\_OPTIONS: Arming options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Options that can be applied to change arming behaviour +--------------------------------------------------------------+ | Bitmask | +==============================================================+ | +-----+----------------------------------------------------+ | | | Bit | Meaning | | | +=====+====================================================+ | | | 0 | Disable prearm display | | | +-----+----------------------------------------------------+ | | | 1 | Do not send status text on state change | | | +-----+----------------------------------------------------+ | | | 2 | Skip IMU consistency checks when ICE motor running | | | +-----+----------------------------------------------------+ | | | +--------------------------------------------------------------+ .. _ARMING_MAGTHRESH: ARMING\_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Compass magnetic field strength error threshold vs earth magnetic model\. X and y axis are compared using this threhold\, Z axis uses 2x this threshold\. 0 to disable check +----------+------------+ | Range | Units | +==========+============+ | 0 to 500 | milligauss | +----------+------------+ .. _ARMING_CRSDP_IGN: ARMING\_CRSDP\_IGN: Disable CrashDump Arming check ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Must have value \"1\" if crashdump data is present on the system\, or a prearm failure will be raised\. Do not set this parameter unless the risks of doing so are fully understood\. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting\. The crashdump file gives diagnostic information which can help in finding the issue\, please contact the ArduPIlot support team\. If this crashdump data is present\, the vehicle is likely unsafe to fly\. Check the ArduPilot documentation for more details\. +-------------------------------------------------+ | Values | +=================================================+ | +-------+-------------------------------------+ | | | Value | Meaning | | | +=======+=====================================+ | | | 0 | Crash Dump arming check active | | | +-------+-------------------------------------+ | | | 1 | Crash Dump arming check deactivated | | | +-------+-------------------------------------+ | | | +-------------------------------------------------+ .. _ARMING_SKIPCHK: ARMING\_SKIPCHK: Arm Checks to Skip \(bitmask\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Checks to skip prior to arming motor\. This is a bitmask of checks before allowing arming that will be skipped\. For most users it is recommended to leave this at the default of 0 \(no checks skipped\)\. In extreme circumstances\, a value of \-1 can be used to skip all non\-mandatory current and future checks\. +----------------------------------+ | Bitmask | +==================================+ | +-----+------------------------+ | | | Bit | Meaning | | | +=====+========================+ | | | 1 | Barometer | | | +-----+------------------------+ | | | 2 | Compass | | | +-----+------------------------+ | | | 3 | GPS lock | | | +-----+------------------------+ | | | 4 | INS | | | +-----+------------------------+ | | | 5 | Parameters | | | +-----+------------------------+ | | | 6 | RC Channels | | | +-----+------------------------+ | | | 7 | Board voltage | | | +-----+------------------------+ | | | 8 | Battery Level | | | +-----+------------------------+ | | | 9 | Airspeed | | | +-----+------------------------+ | | | 10 | Logging Available | | | +-----+------------------------+ | | | 11 | Hardware safety switch | | | +-----+------------------------+ | | | 12 | GPS Configuration | | | +-----+------------------------+ | | | 13 | System | | | +-----+------------------------+ | | | 14 | Mission | | | +-----+------------------------+ | | | 15 | Rangefinder | | | +-----+------------------------+ | | | 16 | Camera | | | +-----+------------------------+ | | | 17 | AuxAuth | | | +-----+------------------------+ | | | 19 | FFT | | | +-----+------------------------+ | | | +----------------------------------+ .. _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 | +-------------+ .. _ARSPD_OFF_PCNT: ARSPD\_OFF\_PCNT: Maximum offset cal speed error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued\. This potential speed error is in percent of AIRSPEED\_MIN\. 0 disables\. Helps warn of calibrations without pitot being covered\. +-------------+---------+ | Range | Units | +=============+=========+ | 0.0 to 10.0 | percent | +-------------+---------+ .. _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_AUTOLAND_: AUTOLAND\_ Parameters --------------------- .. _AUTOLAND_WP_ALT: AUTOLAND\_WP\_ALT: Final approach WP altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the target altitude above HOME for final approach waypoint +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 0 to 200 | meters | +-----------+----------+--------+ .. _AUTOLAND_WP_DIST: AUTOLAND\_WP\_DIST: Final approach WP distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the distance from Home that the final approach waypoint is set\. The waypoint point will be in the opposite direction of takeoff \(the direction the plane is facing when the plane sets its takeoff heading\) +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 0 to 700 | meters | +-----------+----------+--------+ .. _AUTOLAND_DIR_OFF: AUTOLAND\_DIR\_OFF: Landing direction offset from takeoff ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The captured takeoff direction after ground course is established in autotakeoffsis offset by this amount to create a different landing direction and approach\.However\,if TKOFF\_OPTION bit1 is set\, the takeoff\(landing\) direction is captured immediately via compass heading upon arming\, then this offset is NOT applied\. +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -360 to 360 | degrees | +-----------+-------------+---------+ .. _AUTOLAND_OPTIONS: AUTOLAND\_OPTIONS: Autoland mode options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables optional autoland mode behaviors +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Bitmask | +=====================================================================================================================================================================================================================================================+ | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+===========================================================================================================================================================================================================================================+ | | | 0 | When set if there is a healthy compass in use the compass heading will be captured at arming and used for the AUTOLAND mode's initial takeoff direction instead of capturing ground course in NAV_TAKEOFF or Mode TAKEOFF or other modes. | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ .. _AUTOLAND_CLIMB: AUTOLAND\_CLIMB: Minimum altitude above terrain before turning upon entry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle will climb with limited turn ability \(LEVEL\_ROLL\_LIMIT\) until it is at least this altitude above the terrain at the point of entry\, before proceeding to loiter\-to\-alt and landing legs\. 0 Disables\. +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 0 to 100 | meters | +-----------+----------+--------+ .. _parameters_AVD_: AVD\_ Parameters ---------------- .. _AVD_ENABLE: AVD\_ENABLE: Enable Avoidance using ADSB ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable Avoidance using ADSB +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _AVD_F_ACTION: AVD\_F\_ACTION: Collision Avoidance Behavior ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies aircraft behaviour when a collision is imminent +----------------------------------------+ | Values | +========================================+ | +-------+----------------------------+ | | | Value | Meaning | | | +=======+============================+ | | | 0 | None | | | +-------+----------------------------+ | | | 1 | Report | | | +-------+----------------------------+ | | | 2 | Climb Or Descend | | | +-------+----------------------------+ | | | 3 | Move Horizontally | | | +-------+----------------------------+ | | | 4 | Move Perpendicularly in 3D | | | +-------+----------------------------+ | | | 5 | RTL | | | +-------+----------------------------+ | | | 6 | Hover | | | +-------+----------------------------+ | | | +----------------------------------------+ .. _AVD_W_ACTION: AVD\_W\_ACTION: Collision Avoidance Behavior \- Warn ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies aircraft behaviour when a collision may occur +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | None | | | +-------+---------+ | | | 1 | Report | | | +-------+---------+ | | | +---------------------+ .. _AVD_F_RCVRY: AVD\_F\_RCVRY: Recovery behaviour after a fail event ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Determines what the aircraft will do after a fail event is resolved +-----------------------------------------+ | Values | +=========================================+ | +-------+-----------------------------+ | | | Value | Meaning | | | +=======+=============================+ | | | 0 | Remain in AVOID_ADSB | | | +-------+-----------------------------+ | | | 1 | Resume previous flight mode | | | +-------+-----------------------------+ | | | 2 | RTL | | | +-------+-----------------------------+ | | | 3 | Resume if AUTO else Loiter | | | +-------+-----------------------------+ | | | +-----------------------------------------+ .. _AVD_OBS_MAX: AVD\_OBS\_MAX: Maximum number of obstacles to track ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum number of obstacles to track .. _AVD_W_TIME: AVD\_W\_TIME: Time Horizon Warn ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than W\_DIST\_XY or W\_DIST\_Z then W\_ACTION is undertaken \(assuming F\_ACTION is not undertaken\) +---------+ | Units | +=========+ | seconds | +---------+ .. _AVD_F_TIME: AVD\_F\_TIME: Time Horizon Fail ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than F\_DIST\_XY or F\_DIST\_Z then F\_ACTION is undertaken +---------+ | Units | +=========+ | seconds | +---------+ .. _AVD_W_DIST_XY: AVD\_W\_DIST\_XY: Distance Warn XY ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Closest allowed projected distance before W\_ACTION is undertaken +--------+ | Units | +========+ | meters | +--------+ .. _AVD_F_DIST_XY: AVD\_F\_DIST\_XY: Distance Fail XY ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Closest allowed projected distance before F\_ACTION is undertaken +--------+ | Units | +========+ | meters | +--------+ .. _AVD_W_DIST_Z: AVD\_W\_DIST\_Z: Distance Warn Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Closest allowed projected distance before BEHAVIOUR\_W is undertaken +--------+ | Units | +========+ | meters | +--------+ .. _AVD_F_DIST_Z: AVD\_F\_DIST\_Z: Distance Fail Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Closest allowed projected distance before BEHAVIOUR\_F is undertaken +--------+ | Units | +========+ | meters | +--------+ .. _AVD_F_ALT_MIN: AVD\_F\_ALT\_MIN: ADS\-B avoidance minimum altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum AMSL \(above mean sea level\) altitude for ADS\-B avoidance\. If the vehicle is below this altitude\, no avoidance action will take place\. Useful to prevent ADS\-B avoidance from activating while below the tree line or around structures\. Default of 0 is no minimum\. +--------+ | Units | +========+ | meters | +--------+ .. _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 | +----------+ .. _BARO_FIELD_ELV: BARO\_FIELD\_ELV: field elevation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* User provided field elevation in meters\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. Changes to this parameter will only be used when disarmed\. A value of 0 means the EKF origin height is used for takeoff height above sea level\. +-----------+--------+----------+ | Increment | Units | Volatile | +===========+========+==========+ | 0.1 | meters | True | +-----------+--------+----------+ .. _BARO_ALTERR_MAX: BARO\_ALTERR\_MAX: Altitude error maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\. +-----------+-----------+--------+ | Increment | Range | Units | +===========+===========+========+ | 1 | 0 to 5000 | meters | +-----------+-----------+--------+ .. _BARO_OPTIONS: BARO\_OPTIONS: Barometer options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer options +----------------------------------+ | Bitmask | +==================================+ | +-----+------------------------+ | | | Bit | Meaning | | | +=====+========================+ | | | 0 | Treat MS5611 as MS5607 | | | +-----+------------------------+ | | | +----------------------------------+ .. _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_WATT_MAX: BATT2\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT2_SERIAL_NUM: BATT2\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT2_LOW_TIMER: BATT2\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT2_FS_VOLTSRC: BATT2\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATT2\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATT2_FS_CRT_ACT: BATT2\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATT3\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT3_SERIAL_NUM: BATT3\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT3_LOW_TIMER: BATT3\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT3_FS_VOLTSRC: BATT3\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATT3\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATT3_FS_CRT_ACT: BATT3\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATT4\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT4_SERIAL_NUM: BATT4\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT4_LOW_TIMER: BATT4\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT4_FS_VOLTSRC: BATT4\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATT4\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATT4_FS_CRT_ACT: BATT4\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATT5\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT5_SERIAL_NUM: BATT5\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT5_LOW_TIMER: BATT5\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT5_FS_VOLTSRC: BATT5\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATT5\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATT5_FS_CRT_ACT: BATT5\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATT6\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT6_SERIAL_NUM: BATT6\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT6_LOW_TIMER: BATT6\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT6_FS_VOLTSRC: BATT6\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATT6\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATT6_FS_CRT_ACT: BATT6\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATT7\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT7_SERIAL_NUM: BATT7\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT7_LOW_TIMER: BATT7\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT7_FS_VOLTSRC: BATT7\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATT7\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATT7_FS_CRT_ACT: BATT7\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATT8\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT8_SERIAL_NUM: BATT8\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT8_LOW_TIMER: BATT8\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT8_FS_VOLTSRC: BATT8\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATT8\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATT8_FS_CRT_ACT: BATT8\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATT9\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT9_SERIAL_NUM: BATT9\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT9_LOW_TIMER: BATT9\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT9_FS_VOLTSRC: BATT9\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATT9\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATT9_FS_CRT_ACT: BATT9\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATTA\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTA_SERIAL_NUM: BATTA\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTA_LOW_TIMER: BATTA\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTA_FS_VOLTSRC: BATTA\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATTA\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATTA_FS_CRT_ACT: BATTA\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATTB\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTB_SERIAL_NUM: BATTB\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTB_LOW_TIMER: BATTB\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTB_FS_VOLTSRC: BATTB\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATTB\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATTB_FS_CRT_ACT: BATTB\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATTC\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTC_SERIAL_NUM: BATTC\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTC_LOW_TIMER: BATTC\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTC_FS_VOLTSRC: BATTC\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATTC\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATTC_FS_CRT_ACT: BATTC\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATTD\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTD_SERIAL_NUM: BATTD\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTD_LOW_TIMER: BATTD\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTD_FS_VOLTSRC: BATTD\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATTD\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATTD_FS_CRT_ACT: BATTD\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATTE\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTE_SERIAL_NUM: BATTE\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTE_LOW_TIMER: BATTE\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTE_FS_VOLTSRC: BATTE\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATTE\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATTE_FS_CRT_ACT: BATTE\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATTF\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTF_SERIAL_NUM: BATTF\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTF_LOW_TIMER: BATTF\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTF_FS_VOLTSRC: BATTF\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATTF\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATTF_FS_CRT_ACT: BATTF\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATTG\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATTG_SERIAL_NUM: BATTG\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATTG_LOW_TIMER: BATTG\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATTG_FS_VOLTSRC: BATTG\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATTG\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATTG_FS_CRT_ACT: BATTG\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_WATT_MAX: BATT\_WATT\_MAX: Maximum allowed power \(Watts\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. +-----------+-------+ | Increment | Units | +===========+=======+ | 1 | watt | +-----------+-------+ .. _BATT_SERIAL_NUM: BATT\_SERIAL\_NUM: Battery serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. .. _BATT_LOW_TIMER: BATT\_LOW\_TIMER: Low voltage timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 120 | seconds | +-----------+----------+---------+ .. _BATT_FS_VOLTSRC: BATT\_FS\_VOLTSRC: Failsafe voltage source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Voltage type used for detection of low voltage event +-------------------------------------+ | 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_FS_LOW_ACT: BATT\_FS\_LOW\_ACT: Low battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a low battery failsafe +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Warn only | | | +-------+-------------------+ | | | 1 | RTL | | | +-------+-------------------+ | | | 2 | Land | | | +-------+-------------------+ | | | 3 | Terminate | | | +-------+-------------------+ | | | 4 | QLand | | | +-------+-------------------+ | | | 5 | Parachute release | | | +-------+-------------------+ | | | 6 | Loiter to QLand | | | +-------+-------------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-------------------+ | | | +-------------------------------+ .. _BATT_FS_CRT_ACT: BATT\_FS\_CRT\_ACT: Critical battery failsafe action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action the vehicle should perform if it hits a critical battery failsafe +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Warn only | | | +-------+-----------------+ | | | 1 | RTL | | | +-------+-----------------+ | | | 2 | Land | | | +-------+-----------------+ | | | 3 | Terminate | | | +-------+-----------------+ | | | 4 | QLand | | | +-------+-----------------+ | | | 5 | Parachute | | | +-------+-----------------+ | | | 6 | Loiter to QLand | | | +-------+-----------------+ | | | 7 | AUTOLAND or RTL | | | +-------+-----------------+ | | | +-----------------------------+ .. _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_BCN: BCN Parameters -------------- .. _BCN_TYPE: BCN\_TYPE: Beacon based position estimation device type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* What type of beacon based position estimation device is connected +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | None | | | +-------+------------+ | | | 1 | Pozyx | | | +-------+------------+ | | | 2 | Marvelmind | | | +-------+------------+ | | | 3 | Nooploop | | | +-------+------------+ | | | 10 | SITL | | | +-------+------------+ | | | +------------------------+ .. _BCN_LATITUDE: BCN\_LATITUDE: Beacon origin\'s latitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Beacon origin\'s latitude +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 0.000001 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _BCN_LONGITUDE: BCN\_LONGITUDE: Beacon origin\'s longitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Beacon origin\'s longitude +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 0.000001 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _BCN_ALT: BCN\_ALT: Beacon origin\'s altitude above sealevel in meters ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Beacon origin\'s altitude above sealevel in meters +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 1 | 0 to 10000 | meters | +-----------+------------+--------+ .. _BCN_ORIENT_YAW: BCN\_ORIENT\_YAW: Beacon systems rotation from north in degrees ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Beacon systems rotation from north in degrees +-----------+--------------+---------+ | Increment | Range | Units | +===========+==============+=========+ | 1 | -180 to +180 | degrees | +-----------+--------------+---------+ .. _parameters_BRD_: BRD\_ Parameters ---------------- .. _BRD_SER1_RTSCTS: BRD\_SER1\_RTSCTS: Serial 1 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 1 \(telemetry 1\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. Note that the PX4v1 does not have hardware flow control pins on this port\, so you should leave this disabled\. +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | Enabled | | | +-------+------------------------------+ | | | 2 | Auto | | | +-------+------------------------------+ | | | 3 | RS-485 Driver enable RTS pin | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _BRD_SER2_RTSCTS: BRD\_SER2\_RTSCTS: Serial 2 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 2 \(telemetry 2\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | Enabled | | | +-------+------------------------------+ | | | 2 | Auto | | | +-------+------------------------------+ | | | 3 | RS-485 Driver enable RTS pin | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _BRD_SER3_RTSCTS: BRD\_SER3\_RTSCTS: Serial 3 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 3\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | Enabled | | | +-------+------------------------------+ | | | 2 | Auto | | | +-------+------------------------------+ | | | 3 | RS-485 Driver enable RTS pin | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _BRD_SER4_RTSCTS: BRD\_SER4\_RTSCTS: Serial 4 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 4\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | Enabled | | | +-------+------------------------------+ | | | 2 | Auto | | | +-------+------------------------------+ | | | 3 | RS-485 Driver enable RTS pin | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _BRD_SER5_RTSCTS: BRD\_SER5\_RTSCTS: Serial 5 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 5\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | Enabled | | | +-------+------------------------------+ | | | 2 | Auto | | | +-------+------------------------------+ | | | 3 | RS-485 Driver enable RTS pin | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _BRD_SER6_RTSCTS: BRD\_SER6\_RTSCTS: Serial 6 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 6\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | Enabled | | | +-------+------------------------------+ | | | 2 | Auto | | | +-------+------------------------------+ | | | 3 | RS-485 Driver enable RTS pin | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _BRD_SER7_RTSCTS: BRD\_SER7\_RTSCTS: Serial 7 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable flow control on serial 7\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | Enabled | | | +-------+------------------------------+ | | | 2 | Auto | | | +-------+------------------------------+ | | | 3 | RS-485 Driver enable RTS pin | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _BRD_SER8_RTSCTS: BRD\_SER8\_RTSCTS: Serial 8 flow control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable flow control on serial 8\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. .. _BRD_SAFETY_DEFLT: BRD\_SAFETY\_DEFLT: Sets default state of the safety switch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This controls the default state of the safety switch at startup\. When set to 1 the safety switch will start in the safe state \(flashing\) at boot\. When set to zero the safety switch will start in the unsafe state \(solid\) at startup\. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch\. The safety state can also be controlled in software using a MAVLink message\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _BRD_SBUS_OUT: BRD\_SBUS\_OUT: SBUS output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the SBUS output frame rate in Hz +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | 50Hz | | | +-------+----------+ | | | 2 | 75Hz | | | +-------+----------+ | | | 3 | 100Hz | | | +-------+----------+ | | | 4 | 150Hz | | | +-------+----------+ | | | 5 | 200Hz | | | +-------+----------+ | | | 6 | 250Hz | | | +-------+----------+ | | | 7 | 300Hz | | | +-------+----------+ | | | +----------------------+ .. _BRD_SERIAL_NUM: BRD\_SERIAL\_NUM: User\-defined serial number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot +---------------------+ | Range | +=====================+ | -8388608 to 8388607 | +---------------------+ .. _BRD_SAFETY_MASK: BRD\_SAFETY\_MASK: Outputs which ignore the safety switch state ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A bitmask which controls what outputs can move while the safety switch has not been pressed +--------------------+ | Bitmask | +====================+ | +-----+----------+ | | | Bit | Meaning | | | +=====+==========+ | | | 0 | Output1 | | | +-----+----------+ | | | 1 | Output2 | | | +-----+----------+ | | | 2 | Output3 | | | +-----+----------+ | | | 3 | Output4 | | | +-----+----------+ | | | 4 | Output5 | | | +-----+----------+ | | | 5 | Output6 | | | +-----+----------+ | | | 6 | Output7 | | | +-----+----------+ | | | 7 | Output8 | | | +-----+----------+ | | | 8 | Output9 | | | +-----+----------+ | | | 9 | Output10 | | | +-----+----------+ | | | 10 | Output11 | | | +-----+----------+ | | | 11 | Output12 | | | +-----+----------+ | | | 12 | Output13 | | | +-----+----------+ | | | 13 | Output14 | | | +-----+----------+ | | | 14 | Output15 | | | +-----+----------+ | | | 15 | Output16 | | | +-----+----------+ | | | 16 | Output17 | | | +-----+----------+ | | | 17 | Output18 | | | +-----+----------+ | | | 18 | Output19 | | | +-----+----------+ | | | 19 | Output20 | | | +-----+----------+ | | | 20 | Output21 | | | +-----+----------+ | | | 21 | Output22 | | | +-----+----------+ | | | 22 | Output23 | | | +-----+----------+ | | | 23 | Output24 | | | +-----+----------+ | | | 24 | Output25 | | | +-----+----------+ | | | 25 | Output26 | | | +-----+----------+ | | | 26 | Output27 | | | +-----+----------+ | | | 27 | Output28 | | | +-----+----------+ | | | 28 | Output29 | | | +-----+----------+ | | | 29 | Output30 | | | +-----+----------+ | | | 30 | Output31 | | | +-----+----------+ | | | 31 | Output32 | | | +-----+----------+ | | | +--------------------+ .. _BRD_HEAT_TARG: BRD\_HEAT\_TARG: Board heater temperature target ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board heater target temperature for boards with controllable heating units\. Set to \-1 to disable the heater\, please reboot after setting to \-1\. +----------+-----------------+ | Range | Units | +==========+=================+ | -1 to 80 | degrees Celsius | +----------+-----------------+ .. _BRD_TYPE: BRD\_TYPE: Board type ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\) +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | Value | Meaning | | | +=======+================+ | | | 0 | AUTO | | | +-------+----------------+ | | | 1 | PX4V1 | | | +-------+----------------+ | | | 2 | Pixhawk | | | +-------+----------------+ | | | 3 | Cube/Pixhawk2 | | | +-------+----------------+ | | | 5 | PixhawkMini | | | +-------+----------------+ | | | 6 | Pixhawk2Slim | | | +-------+----------------+ | | | 20 | AUAV2.1 | | | +-------+----------------+ | | | 100 | PX4 OLDDRIVERS | | | +-------+----------------+ | | | +----------------------------+ .. _BRD_IO_ENABLE: BRD\_IO\_ENABLE: Enable IO co\-processor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | Disabled | | | +-------+------------------+ | | | 1 | Enabled | | | +-------+------------------+ | | | 2 | EnableNoFWUpdate | | | +-------+------------------+ | | | +------------------------------+ .. _BRD_SAFETYOPTION: BRD\_SAFETYOPTION: Options for safety button behavior ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed +-----------------------------------------------------+ | Bitmask | +=====================================================+ | +-----+-------------------------------------------+ | | | Bit | Meaning | | | +=====+===========================================+ | | | 0 | ActiveForSafetyDisable | | | +-----+-------------------------------------------+ | | | 1 | ActiveForSafetyEnable | | | +-----+-------------------------------------------+ | | | 2 | ActiveWhenArmed | | | +-----+-------------------------------------------+ | | | 3 | Force safety on when the aircraft disarms | | | +-----+-------------------------------------------+ | | | +-----------------------------------------------------+ .. _BRD_VBUS_MIN: BRD\_VBUS\_MIN: Autopilot board voltage requirement ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum voltage on the autopilot power rail to allow the aircraft to arm\. 0 to disable the check\. +-----------+------------+-------+ | Increment | Range | Units | +===========+============+=======+ | 0.1 | 4.0 to 5.5 | volt | +-----------+------------+-------+ .. _BRD_VSERVO_MIN: BRD\_VSERVO\_MIN: Servo voltage requirement ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum voltage on the servo rail to allow the aircraft to arm\. 0 to disable the check\. +-----------+-------------+-------+ | Increment | Range | Units | +===========+=============+=======+ | 0.1 | 3.3 to 12.0 | volt | +-----------+-------------+-------+ .. _BRD_SD_SLOWDOWN: BRD\_SD\_SLOWDOWN: microSD slowdown ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is a scaling factor to slow down microSD operation\. It can be used on flight board and microSD card combinations where full speed is not reliable\. For normal full speed operation a value of 0 should be used\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 32 | +-----------+---------+ .. _BRD_PWM_VOLT_SEL: BRD\_PWM\_VOLT\_SEL: Set PWM Out Voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the voltage max for PWM output pulses\. 0 for 3\.3V and 1 for 5V output\. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs\, not the 6 auxiliary outputs\. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | 3.3V | | | +-------+---------+ | | | 1 | 5V | | | +-------+---------+ | | | +---------------------+ .. _BRD_OPTIONS: BRD\_OPTIONS: Board options ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board specific option flags +-----------------------------------------------------------------+ | Bitmask | +=================================================================+ | +-----+-------------------------------------------------------+ | | | Bit | Meaning | | | +=====+=======================================================+ | | | 0 | Enable hardware watchdog | | | +-----+-------------------------------------------------------+ | | | 1 | Disable MAVftp | | | +-----+-------------------------------------------------------+ | | | 2 | Enable set of internal parameters | | | +-----+-------------------------------------------------------+ | | | 3 | Enable Debug Pins | | | +-----+-------------------------------------------------------+ | | | 4 | Unlock flash on reboot | | | +-----+-------------------------------------------------------+ | | | 5 | Write protect firmware flash on reboot | | | +-----+-------------------------------------------------------+ | | | 6 | Write protect bootloader flash on reboot | | | +-----+-------------------------------------------------------+ | | | 7 | Skip board validation | | | +-----+-------------------------------------------------------+ | | | 8 | Disable board arming gpio output change on arm/disarm | | | +-----+-------------------------------------------------------+ | | | 9 | Use safety pins as profiled | | | +-----+-------------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _BRD_BOOT_DELAY: BRD\_BOOT\_DELAY: Boot delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This adds a delay in milliseconds to boot to ensure peripherals initialise fully +------------+--------------+ | Range | Units | +============+==============+ | 0 to 10000 | milliseconds | +------------+--------------+ .. _BRD_HEAT_P: BRD\_HEAT\_P: Board Heater P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board Heater P gain +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 1 to 500 | +-----------+----------+ .. _BRD_HEAT_I: BRD\_HEAT\_I: Board Heater I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board Heater integrator gain +-----------+--------+ | Increment | Range | +===========+========+ | 0.1 | 0 to 1 | +-----------+--------+ .. _BRD_HEAT_IMAX: BRD\_HEAT\_IMAX: Board Heater IMAX ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Board Heater integrator maximum +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 100 | +-----------+----------+ .. _BRD_ALT_CONFIG: BRD\_ALT\_CONFIG: Alternative HW config ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Select an alternative hardware configuration\. A value of zero selects the default configuration for this board\. Other values are board specific\. Please see the documentation for your board for details on any alternative configuration values that may be available\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _BRD_HEAT_LOWMGN: BRD\_HEAT\_LOWMGN: Board heater temp lower margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Arming check will fail if temp is lower than this margin below BRD\_HEAT\_TARG\. 0 disables the low temperature check +---------+-----------------+ | Range | Units | +=========+=================+ | 0 to 20 | degrees Celsius | +---------+-----------------+ .. _BRD_SD_MISSION: BRD\_SD\_MISSION: SDCard Mission size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the amount of storage in kilobytes reserved on the microsd card in mission\.stg for waypoint storage\. Each waypoint uses 15 bytes\. +---------+ | Range | +=========+ | 0 to 64 | +---------+ .. _BRD_SD_FENCE: BRD\_SD\_FENCE: SDCard Fence size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the amount of storage in kilobytes reserved on the microsd card in fence\.stg for fence storage\. +---------+ | Range | +=========+ | 0 to 64 | +---------+ .. _BRD_IO_DSHOT: BRD\_IO\_DSHOT: Load DShot FW on IO ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This loads the DShot firmware on the IO co\-processor +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | StandardFW | | | +-------+------------+ | | | 1 | DshotFW | | | +-------+------------+ | | | +------------------------+ .. _BRD_IDLE_STATS: BRD\_IDLE\_STATS: Capture and calculate true CPU load using idle threads ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Capture and calculate true CPU load using idle threads +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _parameters_BRD_RADIO: BRD\_RADIO Parameters --------------------- .. _BRD_RADIO_TYPE: BRD\_RADIO\_TYPE: Set type of direct attached radio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This enables support for direct attached radio receivers +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | None | | | +-------+----------+ | | | 1 | CYRF6936 | | | +-------+----------+ | | | 2 | CC2500 | | | +-------+----------+ | | | 3 | BK2425 | | | +-------+----------+ | | | +----------------------+ .. _BRD_RADIO_PROT: BRD\_RADIO\_PROT: protocol ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Select air protocol +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Auto | | | +-------+---------+ | | | 1 | DSM2 | | | +-------+---------+ | | | 2 | DSMX | | | +-------+---------+ | | | +---------------------+ .. _BRD_RADIO_DEBUG: BRD\_RADIO\_DEBUG: debug level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* radio debug level +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _BRD_RADIO_DISCRC: BRD\_RADIO\_DISCRC: disable receive CRC ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* disable receive CRC \(for debug\) +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | NotDisabled | | | +-------+-------------+ | | | 1 | Disabled | | | +-------+-------------+ | | | +-------------------------+ .. _BRD_RADIO_SIGCH: BRD\_RADIO\_SIGCH: RSSI signal strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Channel to show receive RSSI signal strength\, or zero for disabled +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _BRD_RADIO_PPSCH: BRD\_RADIO\_PPSCH: Packet rate channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Channel to show received packet\-per\-second rate\, or zero for disabled +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _BRD_RADIO_TELEM: BRD\_RADIO\_TELEM: Enable telemetry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If this is non\-zero then telemetry packets will be sent over DSM +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _BRD_RADIO_TXPOW: BRD\_RADIO\_TXPOW: Telemetry Transmit power ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX +--------+ | Range | +========+ | 1 to 8 | +--------+ .. _BRD_RADIO_FCCTST: BRD\_RADIO\_FCCTST: Put radio into FCC test mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If this is enabled then the radio will continuously transmit as required for FCC testing\. The transmit channel is set by the value of the parameter\. The radio will not work for RC input while this is enabled +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disabled | | | +-------+--------------+ | | | 1 | MinChannel | | | +-------+--------------+ | | | 2 | MidChannel | | | +-------+--------------+ | | | 3 | MaxChannel | | | +-------+--------------+ | | | 4 | MinChannelCW | | | +-------+--------------+ | | | 5 | MidChannelCW | | | +-------+--------------+ | | | 6 | MaxChannelCW | | | +-------+--------------+ | | | +--------------------------+ .. _BRD_RADIO_STKMD: BRD\_RADIO\_STKMD: Stick input mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This selects between different stick input modes\. The default is mode2\, which has throttle on the left stick and pitch on the right stick\. You can instead set mode1\, which has throttle on the right stick and pitch on the left stick\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 1 | Mode1 | | | +-------+---------+ | | | 2 | Mode2 | | | +-------+---------+ | | | 3 | Mode3 | | | +-------+---------+ | | | 4 | Mode4 | | | +-------+---------+ | | | +---------------------+ .. _BRD_RADIO_TESTCH: BRD\_RADIO\_TESTCH: Set radio to factory test channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the radio to a fixed test channel for factory testing\. Using a fixed channel avoids the need for binding in factory testing\. +-----------------------+ | Values | +=======================+ | +-------+-----------+ | | | Value | Meaning | | | +=======+===========+ | | | 0 | Disabled | | | +-------+-----------+ | | | 1 | TestChan1 | | | +-------+-----------+ | | | 2 | TestChan2 | | | +-------+-----------+ | | | 3 | TestChan3 | | | +-------+-----------+ | | | 4 | TestChan4 | | | +-------+-----------+ | | | 5 | TestChan5 | | | +-------+-----------+ | | | 6 | TestChan6 | | | +-------+-----------+ | | | 7 | TestChan7 | | | +-------+-----------+ | | | 8 | TestChan8 | | | +-------+-----------+ | | | +-----------------------+ .. _BRD_RADIO_TSIGCH: BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Channel to show telemetry RSSI value as received by TX +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _BRD_RADIO_TPPSCH: BRD\_RADIO\_TPPSCH: Telemetry PPS channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Channel to show telemetry packets\-per\-second value\, as received at TX +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _BRD_RADIO_TXMAX: BRD\_RADIO\_TXMAX: Transmitter transmit power ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Set transmitter maximum transmit power \(from 1 to 8\) +--------+ | Range | +========+ | 1 to 8 | +--------+ .. _BRD_RADIO_BZOFS: BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Set transmitter buzzer note adjustment \(adjust frequency up\) +---------+ | Range | +=========+ | 0 to 40 | +---------+ .. _BRD_RADIO_ABTIME: BRD\_RADIO\_ABTIME: Auto\-bind time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\. +----------+ | Range | +==========+ | 0 to 120 | +----------+ .. _BRD_RADIO_ABLVL: BRD\_RADIO\_ABLVL: Auto\-bind level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially +---------+ | Range | +=========+ | 0 to 31 | +---------+ .. _parameters_BRD_RTC: BRD\_RTC Parameters ------------------- .. _BRD_RTC_TYPES: BRD\_RTC\_TYPES: Allowed sources of RTC time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies which sources of UTC time will be accepted +-------------------------------+ | Bitmask | +===============================+ | +-----+---------------------+ | | | Bit | Meaning | | | +=====+=====================+ | | | 0 | GPS | | | +-----+---------------------+ | | | 1 | MAVLINK_SYSTEM_TIME | | | +-----+---------------------+ | | | 2 | HW | | | +-----+---------------------+ | | | +-------------------------------+ .. _BRD_RTC_TZ_MIN: BRD\_RTC\_TZ\_MIN: Timezone offset from UTC ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Adds offset in \+\- minutes from UTC to calculate local time +--------------+ | Range | +==============+ | -720 to +840 | +--------------+ .. _parameters_BTN_: BTN\_ Parameters ---------------- .. _BTN_ENABLE: BTN\_ENABLE: Enable button reporting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the button checking module\. When this is disabled the parameters for setting button inputs are not visible +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _BTN_PIN1: BTN\_PIN1: First button Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for first button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUXOUT1 | | | | +-------+----------+ | | | | 51 | AUXOUT2 | | | | +-------+----------+ | | | | 52 | AUXOUT3 | | | | +-------+----------+ | | | | 53 | AUXOUT4 | | | | +-------+----------+ | | | | 54 | AUXOUT5 | | | | +-------+----------+ | | | | 55 | AUXOUT6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _BTN_PIN2: BTN\_PIN2: Second button Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for second button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUXOUT1 | | | | +-------+----------+ | | | | 51 | AUXOUT2 | | | | +-------+----------+ | | | | 52 | AUXOUT3 | | | | +-------+----------+ | | | | 53 | AUXOUT4 | | | | +-------+----------+ | | | | 54 | AUXOUT5 | | | | +-------+----------+ | | | | 55 | AUXOUT6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _BTN_PIN3: BTN\_PIN3: Third button Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for third button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUXOUT1 | | | | +-------+----------+ | | | | 51 | AUXOUT2 | | | | +-------+----------+ | | | | 52 | AUXOUT3 | | | | +-------+----------+ | | | | 53 | AUXOUT4 | | | | +-------+----------+ | | | | 54 | AUXOUT5 | | | | +-------+----------+ | | | | 55 | AUXOUT6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _BTN_PIN4: BTN\_PIN4: Fourth button Pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital pin number for fourth button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUXOUT1 | | | | +-------+----------+ | | | | 51 | AUXOUT2 | | | | +-------+----------+ | | | | 52 | AUXOUT3 | | | | +-------+----------+ | | | | 53 | AUXOUT4 | | | | +-------+----------+ | | | | 54 | AUXOUT5 | | | | +-------+----------+ | | | | 55 | AUXOUT6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _BTN_REPORT_SEND: BTN\_REPORT\_SEND: Report send time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The duration in seconds that a BUTTON\_CHANGE report is repeatedly sent to the GCS regarding a button changing state\. Note that the BUTTON\_CHANGE message is MAVLink2 only\. +-----------+ | Range | +===========+ | 0 to 3600 | +-----------+ .. _BTN_OPTIONS1: BTN\_OPTIONS1: Button Pin 1 Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for Pin 1\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. +-----------------------+ | Bitmask | +=======================+ | +-----+-------------+ | | | Bit | Meaning | | | +=====+=============+ | | | 0 | PWM Input | | | +-----+-------------+ | | | 1 | InvertInput | | | +-----+-------------+ | | | +-----------------------+ .. _BTN_OPTIONS2: BTN\_OPTIONS2: Button Pin 2 Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for Pin 2\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. +-----------------------+ | Bitmask | +=======================+ | +-----+-------------+ | | | Bit | Meaning | | | +=====+=============+ | | | 0 | PWM Input | | | +-----+-------------+ | | | 1 | InvertInput | | | +-----+-------------+ | | | +-----------------------+ .. _BTN_OPTIONS3: BTN\_OPTIONS3: Button Pin 3 Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for Pin 3\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. +-----------------------+ | Bitmask | +=======================+ | +-----+-------------+ | | | Bit | Meaning | | | +=====+=============+ | | | 0 | PWM Input | | | +-----+-------------+ | | | 1 | InvertInput | | | +-----+-------------+ | | | +-----------------------+ .. _BTN_OPTIONS4: BTN\_OPTIONS4: Button Pin 4 Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for Pin 4\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. +-----------------------+ | Bitmask | +=======================+ | +-----+-------------+ | | | Bit | Meaning | | | +=====+=============+ | | | 0 | PWM Input | | | +-----+-------------+ | | | 1 | InvertInput | | | +-----+-------------+ | | | +-----------------------+ .. _BTN_FUNC1: BTN\_FUNC1: Button Pin 1 RC Channel function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auxiliary RC Options function executed on pin change +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _BTN_FUNC2: BTN\_FUNC2: Button Pin 2 RC Channel function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auxiliary RC Options function executed on pin change +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _BTN_FUNC3: BTN\_FUNC3: Button Pin 3 RC Channel function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auxiliary RC Options function executed on pin change +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _BTN_FUNC4: BTN\_FUNC4: Button Pin 4 RC Channel function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auxiliary RC Options function executed on pin change +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_CAM: CAM Parameters -------------- .. _CAM_MAX_ROLL: CAM\_MAX\_ROLL: Maximum photo roll angle\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Postpone shooting if roll is greater than limit\. \(0\=Disable\, will shoot regardless of roll\)\. +----------+---------+ | Range | Units | +==========+=========+ | 0 to 180 | degrees | +----------+---------+ .. _CAM_AUTO_ONLY: CAM\_AUTO\_ONLY: Distance\-trigging in AUTO mode only ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled\, trigging by distance is done in AUTO mode only\. +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Always | | | +-------+-------------------+ | | | 1 | Only when in AUTO | | | +-------+-------------------+ | | | +-------------------------------+ .. _parameters_CAM1: CAM1 Parameters --------------- .. _CAM1_TYPE: CAM1\_TYPE: Camera shutter \(trigger\) type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* how to trigger the camera to take a picture +------------------------------------------------+ | Values | +================================================+ | +-------+------------------------------------+ | | | Value | Meaning | | | +=======+====================================+ | | | 0 | None | | | +-------+------------------------------------+ | | | 1 | Servo | | | +-------+------------------------------------+ | | | 2 | Relay | | | +-------+------------------------------------+ | | | 3 | GoPro in Solo Gimbal | | | +-------+------------------------------------+ | | | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | | | +-------+------------------------------------+ | | | 5 | MAVLink | | | +-------+------------------------------------+ | | | 6 | MAVLinkCamV2 (Gremsy/AVT) | | | +-------+------------------------------------+ | | | 7 | Scripting | | | +-------+------------------------------------+ | | | 8 | RunCam | | | +-------+------------------------------------+ | | | +------------------------------------------------+ .. _CAM1_DURATION: CAM1\_DURATION: Camera shutter duration held open ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Duration in seconds that the camera shutter is held open +--------+---------+ | Range | Units | +========+=========+ | 0 to 5 | seconds | +--------+---------+ .. _CAM1_SERVO_ON: CAM1\_SERVO\_ON: Camera servo ON PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value in microseconds to move servo to when shutter is activated +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _CAM1_SERVO_OFF: CAM1\_SERVO\_OFF: Camera servo OFF PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value in microseconds to move servo to when shutter is deactivated +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _CAM1_TRIGG_DIST: CAM1\_TRIGG\_DIST: Camera trigger distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. +-----------+--------+ | Range | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _CAM1_RELAY_ON: CAM1\_RELAY\_ON: Camera relay ON value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Low | | | +-------+---------+ | | | 1 | High | | | +-------+---------+ | | | +---------------------+ .. _CAM1_INTRVAL_MIN: CAM1\_INTRVAL\_MIN: Camera minimum time interval between photos ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Postpone shooting if previous picture was taken less than this many seconds ago +---------+---------+ | Range | Units | +=========+=========+ | 0 to 10 | seconds | +---------+---------+ .. _CAM1_FEEDBAK_PIN: CAM1\_FEEDBAK\_PIN: Camera feedback pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUX1 | | | | +-------+----------+ | | | | 51 | AUX2 | | | | +-------+----------+ | | | | 52 | AUX3 | | | | +-------+----------+ | | | | 53 | AUX4 | | | | +-------+----------+ | | | | 54 | AUX5 | | | | +-------+----------+ | | | | 55 | AUX6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAM1_FEEDBAK_POL: CAM1\_FEEDBAK\_POL: Camera feedback pin polarity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | TriggerLow | | | +-------+-------------+ | | | 1 | TriggerHigh | | | +-------+-------------+ | | | +-------------------------+ .. _CAM1_OPTIONS: CAM1\_OPTIONS: Camera options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera options bitmask +-------------------------------------------------------------+ | Bitmask | +=============================================================+ | +-----+---------------------------------------------------+ | | | Bit | Meaning | | | +=====+===================================================+ | | | 0 | Recording Starts at arming and stops at disarming | | | +-----+---------------------------------------------------+ | | | +-------------------------------------------------------------+ .. _CAM1_MNT_INST: CAM1\_MNT\_INST: Camera Mount instance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 .. _CAM1_HFOV: CAM1\_HFOV: Camera horizontal field of view ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera horizontal field of view\. 0 if unknown +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _CAM1_VFOV: CAM1\_VFOV: Camera vertical field of view ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera vertical field of view\. 0 if unknown +----------+---------+ | Range | Units | +==========+=========+ | 0 to 180 | degrees | +----------+---------+ .. _CAM1_COMPID: CAM1\_COMPID: MAVLink camera component ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Component ID of the camera when using MAVLinkCamV2 \(CAMn\_TYPE\=6\)\. Zero selects MAV\_COMP\_ID\_CAMERA plus the zero\-based camera instance \(100 for camera 1\, 101 for camera 2\)\. Values 7 to 255 select the specified component ID\. IDs 1 to 6 are reserved for autopilot\-connected cameras\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 255 | +-----------+----------+ .. _CAM1_ZOM_RAT_MAX: CAM1\_ZOM\_RAT\_MAX: Camera zoom speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed at which the zoom output moves for continuous \(rate\) zoom commands\. Only used by the Servo camera type\. The default of 5\%\/s moves across the full range in 20 seconds +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 100 | percent per second | +----------+--------------------+ .. _CAM1_FOC_RAT_MAX: CAM1\_FOC\_RAT\_MAX: Camera focus speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed at which the focus output moves for continuous \(rate\) focus commands\. Only used by the Servo camera type\. The default of 5\%\/s moves across the full range in 20 seconds +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 100 | percent per second | +----------+--------------------+ .. _parameters_CAM1_RC_: CAM1\_RC\_ Parameters --------------------- .. _CAM1_RC_TYPE: CAM1\_RC\_TYPE: RunCam device type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RunCam device type used to determine OSD menu structure and shutter options\. +-------------------------------------------------+ | Values | +=================================================+ | +-------+-------------------------------------+ | | | Value | Meaning | | | +=======+=====================================+ | | | 0 | Disabled | | | +-------+-------------------------------------+ | | | 1 | RunCam Split Micro/RunCam with UART | | | +-------+-------------------------------------+ | | | 2 | RunCam Split | | | +-------+-------------------------------------+ | | | 3 | RunCam Split4 4k | | | +-------+-------------------------------------+ | | | 4 | RunCam Hybrid/RunCam Thumb Pro | | | +-------+-------------------------------------+ | | | 5 | Runcam 2 4k | | | +-------+-------------------------------------+ | | | +-------------------------------------------------+ .. _CAM1_RC_FEATURES: CAM1\_RC\_FEATURES: RunCam features available ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. +---------------------------+ | Bitmask | +===========================+ | +-----+-----------------+ | | | Bit | Meaning | | | +=====+=================+ | | | 0 | Power Button | | | +-----+-----------------+ | | | 1 | WiFi Button | | | +-----+-----------------+ | | | 2 | Change Mode | | | +-----+-----------------+ | | | 3 | 5-Key OSD | | | +-----+-----------------+ | | | 4 | Settings Access | | | +-----+-----------------+ | | | 5 | DisplayPort | | | +-----+-----------------+ | | | 6 | Start Recording | | | +-----+-----------------+ | | | 7 | Stop Recording | | | +-----+-----------------+ | | | +---------------------------+ .. _CAM1_RC_BT_DELAY: CAM1\_RC\_BT\_DELAY: RunCam boot delay before allowing updates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. .. _CAM1_RC_BTN_DELY: CAM1\_RC\_BTN\_DELY: RunCam button delay before allowing further button presses ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. .. _CAM1_RC_MDE_DELY: CAM1\_RC\_MDE\_DELY: RunCam mode delay before allowing further button presses ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. .. _CAM1_RC_CONTROL: CAM1\_RC\_CONTROL: RunCam control option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the allowed actions required to enter the OSD menu and other option like autorecording +---------------------------------+ | Bitmask | +=================================+ | +-----+-----------------------+ | | | Bit | Meaning | | | +=====+=======================+ | | | 0 | Stick yaw right | | | +-----+-----------------------+ | | | 1 | Stick roll right | | | +-----+-----------------------+ | | | 2 | 3-position switch | | | +-----+-----------------------+ | | | 3 | 2-position switch | | | +-----+-----------------------+ | | | 4 | Autorecording enabled | | | +-----+-----------------------+ | | | +---------------------------------+ .. _parameters_CAM2: CAM2 Parameters --------------- .. _CAM2_TYPE: CAM2\_TYPE: Camera shutter \(trigger\) type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* how to trigger the camera to take a picture +------------------------------------------------+ | Values | +================================================+ | +-------+------------------------------------+ | | | Value | Meaning | | | +=======+====================================+ | | | 0 | None | | | +-------+------------------------------------+ | | | 1 | Servo | | | +-------+------------------------------------+ | | | 2 | Relay | | | +-------+------------------------------------+ | | | 3 | GoPro in Solo Gimbal | | | +-------+------------------------------------+ | | | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | | | +-------+------------------------------------+ | | | 5 | MAVLink | | | +-------+------------------------------------+ | | | 6 | MAVLinkCamV2 (Gremsy/AVT) | | | +-------+------------------------------------+ | | | 7 | Scripting | | | +-------+------------------------------------+ | | | 8 | RunCam | | | +-------+------------------------------------+ | | | +------------------------------------------------+ .. _CAM2_DURATION: CAM2\_DURATION: Camera shutter duration held open ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Duration in seconds that the camera shutter is held open +--------+---------+ | Range | Units | +========+=========+ | 0 to 5 | seconds | +--------+---------+ .. _CAM2_SERVO_ON: CAM2\_SERVO\_ON: Camera servo ON PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value in microseconds to move servo to when shutter is activated +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _CAM2_SERVO_OFF: CAM2\_SERVO\_OFF: Camera servo OFF PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value in microseconds to move servo to when shutter is deactivated +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _CAM2_TRIGG_DIST: CAM2\_TRIGG\_DIST: Camera trigger distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. +-----------+--------+ | Range | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _CAM2_RELAY_ON: CAM2\_RELAY\_ON: Camera relay ON value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Low | | | +-------+---------+ | | | 1 | High | | | +-------+---------+ | | | +---------------------+ .. _CAM2_INTRVAL_MIN: CAM2\_INTRVAL\_MIN: Camera minimum time interval between photos ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Postpone shooting if previous picture was taken less than this many seconds ago +---------+---------+ | Range | Units | +=========+=========+ | 0 to 10 | seconds | +---------+---------+ .. _CAM2_FEEDBAK_PIN: CAM2\_FEEDBAK\_PIN: Camera feedback pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 127 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 50 | AUX1 | | | | +-------+----------+ | | | | 51 | AUX2 | | | | +-------+----------+ | | | | 52 | AUX3 | | | | +-------+----------+ | | | | 53 | AUX4 | | | | +-------+----------+ | | | | 54 | AUX5 | | | | +-------+----------+ | | | | 55 | AUX6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAM2_FEEDBAK_POL: CAM2\_FEEDBAK\_POL: Camera feedback pin polarity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | TriggerLow | | | +-------+-------------+ | | | 1 | TriggerHigh | | | +-------+-------------+ | | | +-------------------------+ .. _CAM2_OPTIONS: CAM2\_OPTIONS: Camera options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera options bitmask +-------------------------------------------------------------+ | Bitmask | +=============================================================+ | +-----+---------------------------------------------------+ | | | Bit | Meaning | | | +=====+===================================================+ | | | 0 | Recording Starts at arming and stops at disarming | | | +-----+---------------------------------------------------+ | | | +-------------------------------------------------------------+ .. _CAM2_MNT_INST: CAM2\_MNT\_INST: Camera Mount instance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 .. _CAM2_HFOV: CAM2\_HFOV: Camera horizontal field of view ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera horizontal field of view\. 0 if unknown +----------+---------+ | Range | Units | +==========+=========+ | 0 to 360 | degrees | +----------+---------+ .. _CAM2_VFOV: CAM2\_VFOV: Camera vertical field of view ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Camera vertical field of view\. 0 if unknown +----------+---------+ | Range | Units | +==========+=========+ | 0 to 180 | degrees | +----------+---------+ .. _CAM2_COMPID: CAM2\_COMPID: MAVLink camera component ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Component ID of the camera when using MAVLinkCamV2 \(CAMn\_TYPE\=6\)\. Zero selects MAV\_COMP\_ID\_CAMERA plus the zero\-based camera instance \(100 for camera 1\, 101 for camera 2\)\. Values 7 to 255 select the specified component ID\. IDs 1 to 6 are reserved for autopilot\-connected cameras\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 255 | +-----------+----------+ .. _CAM2_ZOM_RAT_MAX: CAM2\_ZOM\_RAT\_MAX: Camera zoom speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed at which the zoom output moves for continuous \(rate\) zoom commands\. Only used by the Servo camera type\. The default of 5\%\/s moves across the full range in 20 seconds +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 100 | percent per second | +----------+--------------------+ .. _CAM2_FOC_RAT_MAX: CAM2\_FOC\_RAT\_MAX: Camera focus speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed at which the focus output moves for continuous \(rate\) focus commands\. Only used by the Servo camera type\. The default of 5\%\/s moves across the full range in 20 seconds +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 100 | percent per second | +----------+--------------------+ .. _parameters_CAM2_RC_: CAM2\_RC\_ Parameters --------------------- .. _CAM2_RC_TYPE: CAM2\_RC\_TYPE: RunCam device type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RunCam device type used to determine OSD menu structure and shutter options\. +-------------------------------------------------+ | Values | +=================================================+ | +-------+-------------------------------------+ | | | Value | Meaning | | | +=======+=====================================+ | | | 0 | Disabled | | | +-------+-------------------------------------+ | | | 1 | RunCam Split Micro/RunCam with UART | | | +-------+-------------------------------------+ | | | 2 | RunCam Split | | | +-------+-------------------------------------+ | | | 3 | RunCam Split4 4k | | | +-------+-------------------------------------+ | | | 4 | RunCam Hybrid/RunCam Thumb Pro | | | +-------+-------------------------------------+ | | | 5 | Runcam 2 4k | | | +-------+-------------------------------------+ | | | +-------------------------------------------------+ .. _CAM2_RC_FEATURES: CAM2\_RC\_FEATURES: RunCam features available ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. +---------------------------+ | Bitmask | +===========================+ | +-----+-----------------+ | | | Bit | Meaning | | | +=====+=================+ | | | 0 | Power Button | | | +-----+-----------------+ | | | 1 | WiFi Button | | | +-----+-----------------+ | | | 2 | Change Mode | | | +-----+-----------------+ | | | 3 | 5-Key OSD | | | +-----+-----------------+ | | | 4 | Settings Access | | | +-----+-----------------+ | | | 5 | DisplayPort | | | +-----+-----------------+ | | | 6 | Start Recording | | | +-----+-----------------+ | | | 7 | Stop Recording | | | +-----+-----------------+ | | | +---------------------------+ .. _CAM2_RC_BT_DELAY: CAM2\_RC\_BT\_DELAY: RunCam boot delay before allowing updates ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. .. _CAM2_RC_BTN_DELY: CAM2\_RC\_BTN\_DELY: RunCam button delay before allowing further button presses ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. .. _CAM2_RC_MDE_DELY: CAM2\_RC\_MDE\_DELY: RunCam mode delay before allowing further button presses ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. .. _CAM2_RC_CONTROL: CAM2\_RC\_CONTROL: RunCam control option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the allowed actions required to enter the OSD menu and other option like autorecording +---------------------------------+ | Bitmask | +=================================+ | +-----+-----------------------+ | | | Bit | Meaning | | | +=====+=======================+ | | | 0 | Stick yaw right | | | +-----+-----------------------+ | | | 1 | Stick roll right | | | +-----+-----------------------+ | | | 2 | 3-position switch | | | +-----+-----------------------+ | | | 3 | 2-position switch | | | +-----+-----------------------+ | | | 4 | Autorecording enabled | | | +-----+-----------------------+ | | | +---------------------------------+ .. _parameters_CAN_: CAN\_ Parameters ---------------- .. _CAN_LOGLEVEL: CAN\_LOGLEVEL: Loglevel ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Loglevel for recording initialisation and debug information from CAN Interface +--------+-----------------------------------+ | Range | Values | +========+===================================+ | 0 to 4 | +-------+-----------------------+ | | | | Value | Meaning | | | | +=======+=======================+ | | | | 0 | Log None | | | | +-------+-----------------------+ | | | | 1 | Log Error | | | | +-------+-----------------------+ | | | | 2 | Log Warning and below | | | | +-------+-----------------------+ | | | | 3 | Log Info and below | | | | +-------+-----------------------+ | | | | 4 | Log Everything | | | | +-------+-----------------------+ | | | | +--------+-----------------------------------+ .. _parameters_CAN_D1_: CAN\_D1\_ Parameters -------------------- .. _CAN_D1_PROTOCOL: CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option starts selected protocol that will use this virtual driver +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | DroneCAN | | | +-------+------------------------------+ | | | 4 | PiccoloCAN | | | +-------+------------------------------+ | | | 6 | EFI_NWPMU | | | +-------+------------------------------+ | | | 7 | USD1 | | | +-------+------------------------------+ | | | 8 | KDECAN | | | +-------+------------------------------+ | | | 10 | Scripting | | | +-------+------------------------------+ | | | 11 | Benewake | | | +-------+------------------------------+ | | | 12 | Scripting2 | | | +-------+------------------------------+ | | | 13 | TOFSenseP | | | +-------+------------------------------+ | | | 14 | RadarCAN (NanoRadar/Hexsoon) | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _CAN_D1_PROTOCOL2: CAN\_D1\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Secondary protocol with 11 bit CAN addressing +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 7 | USD1 | | | +-------+------------------------------+ | | | 10 | Scripting | | | +-------+------------------------------+ | | | 11 | Benewake | | | +-------+------------------------------+ | | | 12 | Scripting2 | | | +-------+------------------------------+ | | | 13 | TOFSenseP | | | +-------+------------------------------+ | | | 14 | RadarCAN (NanoRadar/Hexsoon) | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _parameters_CAN_D1_PC_: CAN\_D1\_PC\_ Parameters ------------------------ .. _CAN_D1_PC_ESC_BM: CAN\_D1\_PC\_ESC\_BM: ESC channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _CAN_D1_PC_ESC_RT: CAN\_D1\_PC\_ESC\_RT: ESC output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ESC command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D1_PC_SRV_BM: CAN\_D1\_PC\_SRV\_BM: Servo channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which servo channels are to be transmitted over Piccolo CAN +--------------------+ | 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 | | | +-----+----------+ | | | +--------------------+ .. _CAN_D1_PC_SRV_RT: CAN\_D1\_PC\_SRV\_RT: Servo command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of servo command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D1_PC_ECU_ID: CAN\_D1\_PC\_ECU\_ID: ECU Node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _CAN_D1_PC_ECU_RT: CAN\_D1\_PC\_ECU\_RT: ECU command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ECU command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _parameters_CAN_D1_UC_: CAN\_D1\_UC\_ Parameters ------------------------ .. _CAN_D1_UC_NODE: CAN\_D1\_UC\_NODE: Own node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN node ID used by the driver itself on this network +----------+ | Range | +==========+ | 1 to 125 | +----------+ .. _CAN_D1_UC_SRV_BM: CAN\_D1\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask with one set for channel to be transmitted as a servo command over DroneCAN +--------------------+ | 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 | | | +-----+----------+ | | | +--------------------+ .. _CAN_D1_UC_ESC_BM: CAN\_D1\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _CAN_D1_UC_SRV_RT: CAN\_D1\_UC\_SRV\_RT: Servo output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for servo outputs +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D1_UC_OPTION: CAN\_D1\_UC\_OPTION: DroneCAN options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Option flags +----------------------------------------+ | Bitmask | +========================================+ | +-----+------------------------------+ | | | Bit | Meaning | | | +=====+==============================+ | | | 0 | ClearDNADatabase | | | +-----+------------------------------+ | | | 1 | IgnoreDNANodeConflicts | | | +-----+------------------------------+ | | | 2 | EnableCanfd | | | +-----+------------------------------+ | | | 3 | IgnoreDNANodeUnhealthy | | | +-----+------------------------------+ | | | 4 | SendServoAsPWM | | | +-----+------------------------------+ | | | 5 | SendGNSS | | | +-----+------------------------------+ | | | 6 | UseHimarkServo | | | +-----+------------------------------+ | | | 7 | HobbyWingESC | | | +-----+------------------------------+ | | | 8 | EnableStats | | | +-----+------------------------------+ | | | 9 | EnableFlexDebug | | | +-----+------------------------------+ | | | 10 | SecondaryAllowExtendedFrames | | | +-----+------------------------------+ | | | +----------------------------------------+ .. _CAN_D1_UC_NTF_RT: CAN\_D1\_UC\_NTF\_RT: Notify State rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for Notify State Message +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D1_UC_ESC_OF: CAN\_D1\_UC\_ESC\_OF: ESC Output channels offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth +---------+ | Range | +=========+ | 0 to 18 | +---------+ .. _CAN_D1_UC_POOL: CAN\_D1\_UC\_POOL: CAN pool size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads +---------------+ | Range | +===============+ | 1024 to 16384 | +---------------+ .. _CAN_D1_UC_ESC_RV: CAN\_D1\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _CAN_D1_UC_RLY_RT: CAN\_D1\_UC\_RLY\_RT: DroneCAN relay output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state +----------+-------+ | Range | Units | +==========+=======+ | 0 to 200 | hertz | +----------+-------+ .. _CAN_D1_UC_SER_EN: CAN\_D1\_UC\_SER\_EN: DroneCAN Serial enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable DroneCAN virtual serial ports +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _CAN_D1_UC_S1_NOD: CAN\_D1\_UC\_S1\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D1_UC_S1_IDX: CAN\_D1\_UC\_S1\_IDX: DroneCAN Serial1 index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 100 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 0 | Serial0 | | | | +-------+----------+ | | | | 1 | Serial1 | | | | +-------+----------+ | | | | 2 | Serial2 | | | | +-------+----------+ | | | | 3 | Serial3 | | | | +-------+----------+ | | | | 4 | Serial4 | | | | +-------+----------+ | | | | 5 | Serial5 | | | | +-------+----------+ | | | | 6 | Serial6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAN_D1_UC_S1_BD: CAN\_D1\_UC\_S1\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +---------------+--------------------------+ | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _CAN_D1_UC_S1_PRO: CAN\_D1\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +----------------------------------------------+ | 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 | | | +-------+----------------------------------+ | | | +----------------------------------------------+ .. _CAN_D1_UC_S2_NOD: CAN\_D1\_UC\_S2\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D1_UC_S2_IDX: CAN\_D1\_UC\_S2\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 100 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 0 | Serial0 | | | | +-------+----------+ | | | | 1 | Serial1 | | | | +-------+----------+ | | | | 2 | Serial2 | | | | +-------+----------+ | | | | 3 | Serial3 | | | | +-------+----------+ | | | | 4 | Serial4 | | | | +-------+----------+ | | | | 5 | Serial5 | | | | +-------+----------+ | | | | 6 | Serial6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAN_D1_UC_S2_BD: CAN\_D1\_UC\_S2\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +---------------+--------------------------+ | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _CAN_D1_UC_S2_PRO: CAN\_D1\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +----------------------------------------------+ | 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 | | | +-------+----------------------------------+ | | | +----------------------------------------------+ .. _CAN_D1_UC_S3_NOD: CAN\_D1\_UC\_S3\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D1_UC_S3_IDX: CAN\_D1\_UC\_S3\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 100 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 0 | Serial0 | | | | +-------+----------+ | | | | 1 | Serial1 | | | | +-------+----------+ | | | | 2 | Serial2 | | | | +-------+----------+ | | | | 3 | Serial3 | | | | +-------+----------+ | | | | 4 | Serial4 | | | | +-------+----------+ | | | | 5 | Serial5 | | | | +-------+----------+ | | | | 6 | Serial6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAN_D1_UC_S3_BD: CAN\_D1\_UC\_S3\_BD: Serial baud rate on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +---------------+--------------------------+ | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _CAN_D1_UC_S3_PRO: CAN\_D1\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +----------------------------------------------+ | 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_CAN_D2_: CAN\_D2\_ Parameters -------------------- .. _CAN_D2_PROTOCOL: CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option starts selected protocol that will use this virtual driver +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | DroneCAN | | | +-------+------------------------------+ | | | 4 | PiccoloCAN | | | +-------+------------------------------+ | | | 6 | EFI_NWPMU | | | +-------+------------------------------+ | | | 7 | USD1 | | | +-------+------------------------------+ | | | 8 | KDECAN | | | +-------+------------------------------+ | | | 10 | Scripting | | | +-------+------------------------------+ | | | 11 | Benewake | | | +-------+------------------------------+ | | | 12 | Scripting2 | | | +-------+------------------------------+ | | | 13 | TOFSenseP | | | +-------+------------------------------+ | | | 14 | RadarCAN (NanoRadar/Hexsoon) | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _CAN_D2_PROTOCOL2: CAN\_D2\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Secondary protocol with 11 bit CAN addressing +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 7 | USD1 | | | +-------+------------------------------+ | | | 10 | Scripting | | | +-------+------------------------------+ | | | 11 | Benewake | | | +-------+------------------------------+ | | | 12 | Scripting2 | | | +-------+------------------------------+ | | | 13 | TOFSenseP | | | +-------+------------------------------+ | | | 14 | RadarCAN (NanoRadar/Hexsoon) | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _parameters_CAN_D2_PC_: CAN\_D2\_PC\_ Parameters ------------------------ .. _CAN_D2_PC_ESC_BM: CAN\_D2\_PC\_ESC\_BM: ESC channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _CAN_D2_PC_ESC_RT: CAN\_D2\_PC\_ESC\_RT: ESC output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ESC command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D2_PC_SRV_BM: CAN\_D2\_PC\_SRV\_BM: Servo channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which servo channels are to be transmitted over Piccolo CAN +--------------------+ | 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 | | | +-----+----------+ | | | +--------------------+ .. _CAN_D2_PC_SRV_RT: CAN\_D2\_PC\_SRV\_RT: Servo command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of servo command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D2_PC_ECU_ID: CAN\_D2\_PC\_ECU\_ID: ECU Node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _CAN_D2_PC_ECU_RT: CAN\_D2\_PC\_ECU\_RT: ECU command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ECU command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _parameters_CAN_D2_UC_: CAN\_D2\_UC\_ Parameters ------------------------ .. _CAN_D2_UC_NODE: CAN\_D2\_UC\_NODE: Own node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN node ID used by the driver itself on this network +----------+ | Range | +==========+ | 1 to 125 | +----------+ .. _CAN_D2_UC_SRV_BM: CAN\_D2\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask with one set for channel to be transmitted as a servo command over DroneCAN +--------------------+ | 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 | | | +-----+----------+ | | | +--------------------+ .. _CAN_D2_UC_ESC_BM: CAN\_D2\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _CAN_D2_UC_SRV_RT: CAN\_D2\_UC\_SRV\_RT: Servo output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for servo outputs +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D2_UC_OPTION: CAN\_D2\_UC\_OPTION: DroneCAN options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Option flags +----------------------------------------+ | Bitmask | +========================================+ | +-----+------------------------------+ | | | Bit | Meaning | | | +=====+==============================+ | | | 0 | ClearDNADatabase | | | +-----+------------------------------+ | | | 1 | IgnoreDNANodeConflicts | | | +-----+------------------------------+ | | | 2 | EnableCanfd | | | +-----+------------------------------+ | | | 3 | IgnoreDNANodeUnhealthy | | | +-----+------------------------------+ | | | 4 | SendServoAsPWM | | | +-----+------------------------------+ | | | 5 | SendGNSS | | | +-----+------------------------------+ | | | 6 | UseHimarkServo | | | +-----+------------------------------+ | | | 7 | HobbyWingESC | | | +-----+------------------------------+ | | | 8 | EnableStats | | | +-----+------------------------------+ | | | 9 | EnableFlexDebug | | | +-----+------------------------------+ | | | 10 | SecondaryAllowExtendedFrames | | | +-----+------------------------------+ | | | +----------------------------------------+ .. _CAN_D2_UC_NTF_RT: CAN\_D2\_UC\_NTF\_RT: Notify State rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for Notify State Message +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D2_UC_ESC_OF: CAN\_D2\_UC\_ESC\_OF: ESC Output channels offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth +---------+ | Range | +=========+ | 0 to 18 | +---------+ .. _CAN_D2_UC_POOL: CAN\_D2\_UC\_POOL: CAN pool size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads +---------------+ | Range | +===============+ | 1024 to 16384 | +---------------+ .. _CAN_D2_UC_ESC_RV: CAN\_D2\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _CAN_D2_UC_RLY_RT: CAN\_D2\_UC\_RLY\_RT: DroneCAN relay output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state +----------+-------+ | Range | Units | +==========+=======+ | 0 to 200 | hertz | +----------+-------+ .. _CAN_D2_UC_SER_EN: CAN\_D2\_UC\_SER\_EN: DroneCAN Serial enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable DroneCAN virtual serial ports +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _CAN_D2_UC_S1_NOD: CAN\_D2\_UC\_S1\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D2_UC_S1_IDX: CAN\_D2\_UC\_S1\_IDX: DroneCAN Serial1 index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 100 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 0 | Serial0 | | | | +-------+----------+ | | | | 1 | Serial1 | | | | +-------+----------+ | | | | 2 | Serial2 | | | | +-------+----------+ | | | | 3 | Serial3 | | | | +-------+----------+ | | | | 4 | Serial4 | | | | +-------+----------+ | | | | 5 | Serial5 | | | | +-------+----------+ | | | | 6 | Serial6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAN_D2_UC_S1_BD: CAN\_D2\_UC\_S1\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +---------------+--------------------------+ | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _CAN_D2_UC_S1_PRO: CAN\_D2\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +----------------------------------------------+ | 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 | | | +-------+----------------------------------+ | | | +----------------------------------------------+ .. _CAN_D2_UC_S2_NOD: CAN\_D2\_UC\_S2\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D2_UC_S2_IDX: CAN\_D2\_UC\_S2\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 100 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 0 | Serial0 | | | | +-------+----------+ | | | | 1 | Serial1 | | | | +-------+----------+ | | | | 2 | Serial2 | | | | +-------+----------+ | | | | 3 | Serial3 | | | | +-------+----------+ | | | | 4 | Serial4 | | | | +-------+----------+ | | | | 5 | Serial5 | | | | +-------+----------+ | | | | 6 | Serial6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAN_D2_UC_S2_BD: CAN\_D2\_UC\_S2\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +---------------+--------------------------+ | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _CAN_D2_UC_S2_PRO: CAN\_D2\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +----------------------------------------------+ | 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 | | | +-------+----------------------------------+ | | | +----------------------------------------------+ .. _CAN_D2_UC_S3_NOD: CAN\_D2\_UC\_S3\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D2_UC_S3_IDX: CAN\_D2\_UC\_S3\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 100 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 0 | Serial0 | | | | +-------+----------+ | | | | 1 | Serial1 | | | | +-------+----------+ | | | | 2 | Serial2 | | | | +-------+----------+ | | | | 3 | Serial3 | | | | +-------+----------+ | | | | 4 | Serial4 | | | | +-------+----------+ | | | | 5 | Serial5 | | | | +-------+----------+ | | | | 6 | Serial6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAN_D2_UC_S3_BD: CAN\_D2\_UC\_S3\_BD: Serial baud rate on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +---------------+--------------------------+ | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _CAN_D2_UC_S3_PRO: CAN\_D2\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +----------------------------------------------+ | 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_CAN_D3_: CAN\_D3\_ Parameters -------------------- .. _CAN_D3_PROTOCOL: CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enabling this option starts selected protocol that will use this virtual driver +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 1 | DroneCAN | | | +-------+------------------------------+ | | | 4 | PiccoloCAN | | | +-------+------------------------------+ | | | 6 | EFI_NWPMU | | | +-------+------------------------------+ | | | 7 | USD1 | | | +-------+------------------------------+ | | | 8 | KDECAN | | | +-------+------------------------------+ | | | 10 | Scripting | | | +-------+------------------------------+ | | | 11 | Benewake | | | +-------+------------------------------+ | | | 12 | Scripting2 | | | +-------+------------------------------+ | | | 13 | TOFSenseP | | | +-------+------------------------------+ | | | 14 | RadarCAN (NanoRadar/Hexsoon) | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _CAN_D3_PROTOCOL2: CAN\_D3\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Secondary protocol with 11 bit CAN addressing +------------------------------------------+ | Values | +==========================================+ | +-------+------------------------------+ | | | Value | Meaning | | | +=======+==============================+ | | | 0 | Disabled | | | +-------+------------------------------+ | | | 7 | USD1 | | | +-------+------------------------------+ | | | 10 | Scripting | | | +-------+------------------------------+ | | | 11 | Benewake | | | +-------+------------------------------+ | | | 12 | Scripting2 | | | +-------+------------------------------+ | | | 13 | TOFSenseP | | | +-------+------------------------------+ | | | 14 | RadarCAN (NanoRadar/Hexsoon) | | | +-------+------------------------------+ | | | +------------------------------------------+ .. _parameters_CAN_D3_PC_: CAN\_D3\_PC\_ Parameters ------------------------ .. _CAN_D3_PC_ESC_BM: CAN\_D3\_PC\_ESC\_BM: ESC channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _CAN_D3_PC_ESC_RT: CAN\_D3\_PC\_ESC\_RT: ESC output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ESC command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D3_PC_SRV_BM: CAN\_D3\_PC\_SRV\_BM: Servo channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask defining which servo channels are to be transmitted over Piccolo CAN +--------------------+ | 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 | | | +-----+----------+ | | | +--------------------+ .. _CAN_D3_PC_SRV_RT: CAN\_D3\_PC\_SRV\_RT: Servo command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of servo command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _CAN_D3_PC_ECU_ID: CAN\_D3\_PC\_ECU\_ID: ECU Node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _CAN_D3_PC_ECU_RT: CAN\_D3\_PC\_ECU\_RT: ECU command output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Output rate of ECU command messages +----------+-------+ | Range | Units | +==========+=======+ | 1 to 500 | hertz | +----------+-------+ .. _parameters_CAN_D3_UC_: CAN\_D3\_UC\_ Parameters ------------------------ .. _CAN_D3_UC_NODE: CAN\_D3\_UC\_NODE: Own node ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DroneCAN node ID used by the driver itself on this network +----------+ | Range | +==========+ | 1 to 125 | +----------+ .. _CAN_D3_UC_SRV_BM: CAN\_D3\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask with one set for channel to be transmitted as a servo command over DroneCAN +--------------------+ | 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 | | | +-----+----------+ | | | +--------------------+ .. _CAN_D3_UC_ESC_BM: CAN\_D3\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _CAN_D3_UC_SRV_RT: CAN\_D3\_UC\_SRV\_RT: Servo output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for servo outputs +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D3_UC_OPTION: CAN\_D3\_UC\_OPTION: DroneCAN options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Option flags +----------------------------------------+ | Bitmask | +========================================+ | +-----+------------------------------+ | | | Bit | Meaning | | | +=====+==============================+ | | | 0 | ClearDNADatabase | | | +-----+------------------------------+ | | | 1 | IgnoreDNANodeConflicts | | | +-----+------------------------------+ | | | 2 | EnableCanfd | | | +-----+------------------------------+ | | | 3 | IgnoreDNANodeUnhealthy | | | +-----+------------------------------+ | | | 4 | SendServoAsPWM | | | +-----+------------------------------+ | | | 5 | SendGNSS | | | +-----+------------------------------+ | | | 6 | UseHimarkServo | | | +-----+------------------------------+ | | | 7 | HobbyWingESC | | | +-----+------------------------------+ | | | 8 | EnableStats | | | +-----+------------------------------+ | | | 9 | EnableFlexDebug | | | +-----+------------------------------+ | | | 10 | SecondaryAllowExtendedFrames | | | +-----+------------------------------+ | | | +----------------------------------------+ .. _CAN_D3_UC_NTF_RT: CAN\_D3\_UC\_NTF\_RT: Notify State rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for Notify State Message +----------+-------+ | Range | Units | +==========+=======+ | 1 to 200 | hertz | +----------+-------+ .. _CAN_D3_UC_ESC_OF: CAN\_D3\_UC\_ESC\_OF: ESC Output channels offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth +---------+ | Range | +=========+ | 0 to 18 | +---------+ .. _CAN_D3_UC_POOL: CAN\_D3\_UC\_POOL: CAN pool size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads +---------------+ | Range | +===============+ | 1024 to 16384 | +---------------+ .. _CAN_D3_UC_ESC_RV: CAN\_D3\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _CAN_D3_UC_RLY_RT: CAN\_D3\_UC\_RLY\_RT: DroneCAN relay output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state +----------+-------+ | Range | Units | +==========+=======+ | 0 to 200 | hertz | +----------+-------+ .. _CAN_D3_UC_SER_EN: CAN\_D3\_UC\_SER\_EN: DroneCAN Serial enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable DroneCAN virtual serial ports +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _CAN_D3_UC_S1_NOD: CAN\_D3\_UC\_S1\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D3_UC_S1_IDX: CAN\_D3\_UC\_S1\_IDX: DroneCAN Serial1 index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 100 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 0 | Serial0 | | | | +-------+----------+ | | | | 1 | Serial1 | | | | +-------+----------+ | | | | 2 | Serial2 | | | | +-------+----------+ | | | | 3 | Serial3 | | | | +-------+----------+ | | | | 4 | Serial4 | | | | +-------+----------+ | | | | 5 | Serial5 | | | | +-------+----------+ | | | | 6 | Serial6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAN_D3_UC_S1_BD: CAN\_D3\_UC\_S1\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +---------------+--------------------------+ | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _CAN_D3_UC_S1_PRO: CAN\_D3\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +----------------------------------------------+ | 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 | | | +-------+----------------------------------+ | | | +----------------------------------------------+ .. _CAN_D3_UC_S2_NOD: CAN\_D3\_UC\_S2\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN remote node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D3_UC_S2_IDX: CAN\_D3\_UC\_S2\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 100 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 0 | Serial0 | | | | +-------+----------+ | | | | 1 | Serial1 | | | | +-------+----------+ | | | | 2 | Serial2 | | | | +-------+----------+ | | | | 3 | Serial3 | | | | +-------+----------+ | | | | 4 | Serial4 | | | | +-------+----------+ | | | | 5 | Serial5 | | | | +-------+----------+ | | | | 6 | Serial6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAN_D3_UC_S2_BD: CAN\_D3\_UC\_S2\_BD: DroneCAN Serial default baud rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +---------------+--------------------------+ | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _CAN_D3_UC_S2_PRO: CAN\_D3\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +----------------------------------------------+ | 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 | | | +-------+----------------------------------+ | | | +----------------------------------------------+ .. _CAN_D3_UC_S3_NOD: CAN\_D3\_UC\_S3\_NOD: Serial CAN remote node number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* CAN node number for serial port +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_D3_UC_S3_IDX: CAN\_D3\_UC\_S3\_IDX: Serial port number on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial port number on remote CAN node +-----------+----------------------+ | Range | Values | +===========+======================+ | -1 to 100 | +-------+----------+ | | | | Value | Meaning | | | | +=======+==========+ | | | | -1 | Disabled | | | | +-------+----------+ | | | | 0 | Serial0 | | | | +-------+----------+ | | | | 1 | Serial1 | | | | +-------+----------+ | | | | 2 | Serial2 | | | | +-------+----------+ | | | | 3 | Serial3 | | | | +-------+----------+ | | | | 4 | Serial4 | | | | +-------+----------+ | | | | 5 | Serial5 | | | | +-------+----------+ | | | | 6 | Serial6 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _CAN_D3_UC_S3_BD: CAN\_D3\_UC\_S3\_BD: Serial baud rate on remote CAN node ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial baud rate on remote CAN node +---------------+--------------------------+ | 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 | | | | +----------+-----------+ | | | | +---------------+--------------------------+ .. _CAN_D3_UC_S3_PRO: CAN\_D3\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Serial protocol of DroneCAN serial port +----------------------------------------------+ | 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_CAN_P1_: CAN\_P1\_ Parameters -------------------- .. _CAN_P1_DRIVER: CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enabling this option enables use of CAN buses\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | Value | Meaning | | | +=======+===============+ | | | 0 | Disabled | | | +-------+---------------+ | | | 1 | First driver | | | +-------+---------------+ | | | 2 | Second driver | | | +-------+---------------+ | | | 3 | Third driver | | | +-------+---------------+ | | | +---------------------------+ .. _CAN_P1_BITRATE: CAN\_P1\_BITRATE: Bitrate of CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 10000 to 1000000 +------------------+ | Range | +==================+ | 10000 to 1000000 | +------------------+ .. _CAN_P1_FDBITRATE: CAN\_P1\_FDBITRATE: Bitrate of CANFD interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 1000000 to 8000000 +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 1 | 1M | | | +-------+---------+ | | | 2 | 2M | | | +-------+---------+ | | | 4 | 4M | | | +-------+---------+ | | | 5 | 5M | | | +-------+---------+ | | | 8 | 8M | | | +-------+---------+ | | | +---------------------+ .. _CAN_P1_OPTIONS: CAN\_P1\_OPTIONS: CAN per\-interface options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* CAN per\-interface options +------------------------+ | Bitmask | +========================+ | +-----+--------------+ | | | Bit | Meaning | | | +=====+==============+ | | | 0 | LogAllFrames | | | +-----+--------------+ | | | +------------------------+ .. _parameters_CAN_P2_: CAN\_P2\_ Parameters -------------------- .. _CAN_P2_DRIVER: CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enabling this option enables use of CAN buses\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | Value | Meaning | | | +=======+===============+ | | | 0 | Disabled | | | +-------+---------------+ | | | 1 | First driver | | | +-------+---------------+ | | | 2 | Second driver | | | +-------+---------------+ | | | 3 | Third driver | | | +-------+---------------+ | | | +---------------------------+ .. _CAN_P2_BITRATE: CAN\_P2\_BITRATE: Bitrate of CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 10000 to 1000000 +------------------+ | Range | +==================+ | 10000 to 1000000 | +------------------+ .. _CAN_P2_FDBITRATE: CAN\_P2\_FDBITRATE: Bitrate of CANFD interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 1000000 to 8000000 +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 1 | 1M | | | +-------+---------+ | | | 2 | 2M | | | +-------+---------+ | | | 4 | 4M | | | +-------+---------+ | | | 5 | 5M | | | +-------+---------+ | | | 8 | 8M | | | +-------+---------+ | | | +---------------------+ .. _CAN_P2_OPTIONS: CAN\_P2\_OPTIONS: CAN per\-interface options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* CAN per\-interface options +------------------------+ | Bitmask | +========================+ | +-----+--------------+ | | | Bit | Meaning | | | +=====+==============+ | | | 0 | LogAllFrames | | | +-----+--------------+ | | | +------------------------+ .. _parameters_CAN_P3_: CAN\_P3\_ Parameters -------------------- .. _CAN_P3_DRIVER: CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Enabling this option enables use of CAN buses\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | Value | Meaning | | | +=======+===============+ | | | 0 | Disabled | | | +-------+---------------+ | | | 1 | First driver | | | +-------+---------------+ | | | 2 | Second driver | | | +-------+---------------+ | | | 3 | Third driver | | | +-------+---------------+ | | | +---------------------------+ .. _CAN_P3_BITRATE: CAN\_P3\_BITRATE: Bitrate of CAN interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 10000 to 1000000 +------------------+ | Range | +==================+ | 10000 to 1000000 | +------------------+ .. _CAN_P3_FDBITRATE: CAN\_P3\_FDBITRATE: Bitrate of CANFD interface ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bit rate can be set up to from 1000000 to 8000000 +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 1 | 1M | | | +-------+---------+ | | | 2 | 2M | | | +-------+---------+ | | | 4 | 4M | | | +-------+---------+ | | | 5 | 5M | | | +-------+---------+ | | | 8 | 8M | | | +-------+---------+ | | | +---------------------+ .. _CAN_P3_OPTIONS: CAN\_P3\_OPTIONS: CAN per\-interface options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* CAN per\-interface options +------------------------+ | Bitmask | +========================+ | +-----+--------------+ | | | Bit | Meaning | | | +=====+==============+ | | | 0 | LogAllFrames | | | +-----+--------------+ | | | +------------------------+ .. _parameters_CAN_SLCAN_: CAN\_SLCAN\_ Parameters ----------------------- .. _CAN_SLCAN_CPORT: CAN\_SLCAN\_CPORT: SLCAN Route ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* CAN Interface ID to be routed to SLCAN\, 0 means no routing +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | Disabled | | | +-------+------------------+ | | | 1 | First interface | | | +-------+------------------+ | | | 2 | Second interface | | | +-------+------------------+ | | | +------------------------------+ .. _CAN_SLCAN_SERNUM: CAN\_SLCAN\_SERNUM: SLCAN Serial Port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Serial Port ID to be used for temporary SLCAN iface\, \-1 means no temporary serial\. This parameter is automatically reset on reboot or on timeout\. See CAN\_SLCAN\_TIMOUT for timeout details +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | -1 | Disabled | | | +-------+----------+ | | | 0 | Serial0 | | | +-------+----------+ | | | 1 | Serial1 | | | +-------+----------+ | | | 2 | Serial2 | | | +-------+----------+ | | | 3 | Serial3 | | | +-------+----------+ | | | 4 | Serial4 | | | +-------+----------+ | | | 5 | Serial5 | | | +-------+----------+ | | | 6 | Serial6 | | | +-------+----------+ | | | +----------------------+ .. _CAN_SLCAN_TIMOUT: CAN\_SLCAN\_TIMOUT: SLCAN Timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Duration of inactivity after which SLCAN is switched back to original driver in seconds\. +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _CAN_SLCAN_SDELAY: CAN\_SLCAN\_SDELAY: SLCAN Start Delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Duration after which slcan starts after setting SERNUM in seconds\. +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _parameters_CHUTE_: CHUTE\_ Parameters ------------------ .. _CHUTE_ENABLED: CHUTE\_ENABLED: Parachute release enabled or disabled ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Parachute release enabled or disabled +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _CHUTE_TYPE: CHUTE\_TYPE: Parachute release mechanism type \(relay or servo\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Parachute release mechanism type \(relay number in versions prior to 4\.5\, or servo\)\. Values 0\-3 all are relay\. Relay number used for release is set by RELAYx\_FUNCTION in 4\.5 or later\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Relay | | | +-------+---------+ | | | 10 | Servo | | | +-------+---------+ | | | +---------------------+ .. _CHUTE_SERVO_ON: CHUTE\_SERVO\_ON: Parachute Servo ON PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Parachute Servo PWM value in microseconds when parachute is released +-----------+--------------+---------------------+ | Increment | Range | Units | +===========+==============+=====================+ | 1 | 1000 to 2000 | PWM in microseconds | +-----------+--------------+---------------------+ .. _CHUTE_SERVO_OFF: CHUTE\_SERVO\_OFF: Servo OFF PWM value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Parachute Servo PWM value in microseconds when parachute is not released +-----------+--------------+---------------------+ | Increment | Range | Units | +===========+==============+=====================+ | 1 | 1000 to 2000 | PWM in microseconds | +-----------+--------------+---------------------+ .. _CHUTE_ALT_MIN: CHUTE\_ALT\_MIN: Parachute min altitude in meters above home ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Parachute min altitude above home\. Parachute will not be released below this altitude\. 0 to disable alt check\. +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 1 | 0 to 32000 | meters | +-----------+------------+--------+ .. _CHUTE_DELAY_MS: CHUTE\_DELAY\_MS: Parachute release delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Delay in millseconds between motor stop and chute release +-----------+-----------+--------------+ | Increment | Range | Units | +===========+===========+==============+ | 1 | 0 to 5000 | milliseconds | +-----------+-----------+--------------+ .. _CHUTE_CRT_SINK: CHUTE\_CRT\_SINK: Critical sink speed rate in m\/s to trigger emergency parachute ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Release parachute when critical sink rate is reached +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 1 | 0 to 15 | meters per second | +-----------+---------+-------------------+ .. _CHUTE_OPTIONS: CHUTE\_OPTIONS: Parachute options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Optional behaviour for parachute +------------------------------------------------+ | Bitmask | +================================================+ | +-----+--------------------------------------+ | | | Bit | Meaning | | | +=====+======================================+ | | | 0 | hold open forever after release | | | +-----+--------------------------------------+ | | | 1 | skip disarm before parachute release | | | +-----+--------------------------------------+ | | | +------------------------------------------------+ .. _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_CP: CP Parameters ------------- .. _CP_TYPE: CP\_TYPE: Custom control type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Custom control type to be used +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | None | | | +-------+---------+ | | | 1 | Empty | | | +-------+---------+ | | | 2 | PID | | | +-------+---------+ | | | +---------------------+ .. _CP_MASK: CP\_MASK: Custom Controller bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Custom Controller bitmask to chose which controllers to run or outputs to write\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | Bit | Meaning | | | +=====+===========+ | | | 0 | Output 1 | | | +-----+-----------+ | | | 1 | Output 2 | | | +-----+-----------+ | | | 2 | Output 3 | | | +-----+-----------+ | | | 3 | Output 4 | | | +-----+-----------+ | | | 4 | Output 5 | | | +-----+-----------+ | | | 5 | Output 6 | | | +-----+-----------+ | | | 6 | Output 7 | | | +-----+-----------+ | | | 7 | Output 8 | | | +-----+-----------+ | | | 8 | Output 9 | | | +-----+-----------+ | | | 9 | Output 10 | | | +-----+-----------+ | | | 10 | Output 11 | | | +-----+-----------+ | | | 11 | Output 12 | | | +-----+-----------+ | | | 12 | Output 13 | | | +-----+-----------+ | | | 13 | Output 14 | | | +-----+-----------+ | | | 14 | Output 15 | | | +-----+-----------+ | | | 15 | Output 16 | | | +-----+-----------+ | | | 16 | Output 17 | | | +-----+-----------+ | | | 17 | Output 18 | | | +-----+-----------+ | | | 18 | Output 19 | | | +-----+-----------+ | | | 19 | Output 20 | | | +-----+-----------+ | | | 20 | Output 21 | | | +-----+-----------+ | | | 21 | Output 22 | | | +-----+-----------+ | | | 22 | Output 23 | | | +-----+-----------+ | | | 23 | Output 24 | | | +-----+-----------+ | | | 24 | Output 25 | | | +-----+-----------+ | | | 25 | Output 26 | | | +-----+-----------+ | | | 26 | Output 27 | | | +-----+-----------+ | | | 27 | Output 28 | | | +-----+-----------+ | | | 28 | Output 29 | | | +-----+-----------+ | | | 29 | Output 30 | | | +-----+-----------+ | | | 30 | Output 31 | | | +-----+-----------+ | | | 31 | Output 32 | | | +-----+-----------+ | | | +---------------------+ .. _parameters_CP2_: CP2\_ Parameters ---------------- .. _CP2_ANG_RLL_P: CP2\_ANG\_RLL\_P: Roll axis angle controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis angle controller P gain\. Converts the error between the desired roll angle and actual angle to a desired roll rate +-----------------+ | Range | +=================+ | 3.000 to 12.000 | +-----------------+ .. _CP2_ANG_PIT_P: CP2\_ANG\_PIT\_P: Pitch axis angle controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis angle controller P gain\. Converts the error between the desired pitch angle and actual angle to a desired pitch rate +-----------------+ | Range | +=================+ | 3.000 to 12.000 | +-----------------+ .. _CP2_RAT_RLL_P: CP2\_RAT\_RLL\_P: Roll axis rate controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.005 | 0.01 to 0.5 | +-----------+-------------+ .. _CP2_RAT_RLL_I: CP2\_RAT\_RLL\_I: Roll axis rate controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.01 | 0.01 to 2.0 | +-----------+-------------+ .. _CP2_RAT_RLL_IMAX: CP2\_RAT\_RLL\_IMAX: Roll axis rate controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _CP2_RAT_RLL_D: CP2\_RAT\_RLL\_D: Roll axis rate controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.001 | 0.0 to 0.05 | +-----------+-------------+ .. _CP2_RAT_RLL_FF: CP2\_RAT\_RLL\_FF: Roll axis rate controller feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller feed forward +-----------+----------+ | Increment | Range | +===========+==========+ | 0.001 | 0 to 0.5 | +-----------+----------+ .. _CP2_RAT_RLL_FLTT: CP2\_RAT\_RLL\_FLTT: Roll axis rate controller target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller target frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 5 to 100 | hertz | +-----------+----------+-------+ .. _CP2_RAT_RLL_FLTE: CP2\_RAT\_RLL\_FLTE: Roll axis rate controller error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller error frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 100 | hertz | +-----------+----------+-------+ .. _CP2_RAT_RLL_FLTD: CP2\_RAT\_RLL\_FLTD: Roll axis rate controller derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller derivative frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 5 to 100 | hertz | +-----------+----------+-------+ .. _CP2_RAT_RLL_SMAX: CP2\_RAT\_RLL\_SMAX: Roll slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _CP2_RAT_RLL_PDMX: CP2\_RAT\_RLL\_PDMX: Roll axis rate controller PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _CP2_RAT_RLL_D_FF: CP2\_RAT\_RLL\_D\_FF: Roll Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.0001 | 0 to 0.02 | +-----------+-----------+ .. _CP2_RAT_RLL_NTF: CP2\_RAT\_RLL\_NTF: Roll Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll Target notch filter index +--------+ | Range | +========+ | 1 to 8 | +--------+ .. _CP2_RAT_RLL_NEF: CP2\_RAT\_RLL\_NEF: Roll Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll Error notch filter index +--------+ | Range | +========+ | 1 to 8 | +--------+ .. _CP2_RAT_PIT_P: CP2\_RAT\_PIT\_P: Pitch axis rate controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.005 | 0.01 to 0.50 | +-----------+--------------+ .. _CP2_RAT_PIT_I: CP2\_RAT\_PIT\_I: Pitch axis rate controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.01 | 0.01 to 2.0 | +-----------+-------------+ .. _CP2_RAT_PIT_IMAX: CP2\_RAT\_PIT\_IMAX: Pitch axis rate controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _CP2_RAT_PIT_D: CP2\_RAT\_PIT\_D: Pitch axis rate controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.001 | 0.0 to 0.05 | +-----------+-------------+ .. _CP2_RAT_PIT_FF: CP2\_RAT\_PIT\_FF: Pitch axis rate controller feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller feed forward +-----------+----------+ | Increment | Range | +===========+==========+ | 0.001 | 0 to 0.5 | +-----------+----------+ .. _CP2_RAT_PIT_FLTT: CP2\_RAT\_PIT\_FLTT: Pitch axis rate controller target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller target frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 5 to 100 | hertz | +-----------+----------+-------+ .. _CP2_RAT_PIT_FLTE: CP2\_RAT\_PIT\_FLTE: Pitch axis rate controller error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller error frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 100 | hertz | +-----------+----------+-------+ .. _CP2_RAT_PIT_FLTD: CP2\_RAT\_PIT\_FLTD: Pitch axis rate controller derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller derivative frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 5 to 100 | hertz | +-----------+----------+-------+ .. _CP2_RAT_PIT_SMAX: CP2\_RAT\_PIT\_SMAX: Pitch slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _CP2_RAT_PIT_PDMX: CP2\_RAT\_PIT\_PDMX: Pitch axis rate controller PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _CP2_RAT_PIT_D_FF: CP2\_RAT\_PIT\_D\_FF: Pitch Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.0001 | 0 to 0.02 | +-----------+-----------+ .. _CP2_RAT_PIT_NTF: CP2\_RAT\_PIT\_NTF: Pitch Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch Target notch filter index +--------+ | Range | +========+ | 1 to 8 | +--------+ .. _CP2_RAT_PIT_NEF: CP2\_RAT\_PIT\_NEF: Pitch Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch Error notch filter index +--------+ | Range | +========+ | 1 to 8 | +--------+ .. _parameters_CUST_ROT: CUST\_ROT Parameters -------------------- .. _CUST_ROT_ENABLE: CUST\_ROT\_ENABLE: Enable Custom rotations ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This enables custom rotations +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _parameters_CUST_ROT1_: CUST\_ROT1\_ Parameters ----------------------- .. _CUST_ROT1_ROLL: CUST\_ROT1\_ROLL: Custom roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _CUST_ROT1_PITCH: CUST\_ROT1\_PITCH: Custom pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _CUST_ROT1_YAW: CUST\_ROT1\_YAW: Custom yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _parameters_CUST_ROT2_: CUST\_ROT2\_ Parameters ----------------------- .. _CUST_ROT2_ROLL: CUST\_ROT2\_ROLL: Custom roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _CUST_ROT2_PITCH: CUST\_ROT2\_PITCH: Custom pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _CUST_ROT2_YAW: CUST\_ROT2\_YAW: Custom yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering +---------+ | Units | +=========+ | degrees | +---------+ .. _parameters_DDS: DDS Parameters -------------- .. _DDS_ENABLE: DDS\_ENABLE: DDS enable ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable DDS subsystem +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _DDS_UDP_PORT: DDS\_UDP\_PORT: DDS UDP port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* UDP port number for DDS +------------+ | Range | +============+ | 1 to 65535 | +------------+ .. _DDS_DOMAIN_ID: DDS\_DOMAIN\_ID: DDS DOMAIN ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Set the ROS\_DOMAIN\_ID +----------+ | Range | +==========+ | 0 to 232 | +----------+ .. _DDS_TIMEOUT_MS: DDS\_TIMEOUT\_MS: DDS ping timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting\. +-----------+------------+--------------+ | Increment | Range | Units | +===========+============+==============+ | 1 | 1 to 10000 | milliseconds | +-----------+------------+--------------+ .. _DDS_MAX_RETRY: DDS\_MAX\_RETRY: DDS ping max attempts ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting\. Set to 0 to allow unlimited retries\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | 0 to 100 | +-----------+----------+ .. _DDS_USE_NS: DDS\_USE\_NS: DDS namespace ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* When enabled\, ROS 2 topic and service names include a v\ segment +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _parameters_DDS_IP: DDS\_IP Parameters ------------------ .. _DDS_IP0: DDS\_IP0: IPv4 Address 1st byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: 192\.xxx\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _DDS_IP1: DDS\_IP1: IPv4 Address 2nd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.168\.xxx\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _DDS_IP2: DDS\_IP2: IPv4 Address 3rd byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.144\.xxx +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _DDS_IP3: DDS\_IP3: IPv4 Address 4th byte ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* IPv4 address\. Example\: xxx\.xxx\.xxx\.14 +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _parameters_DID_: DID\_ Parameters ---------------- .. _DID_ENABLE: DID\_ENABLE: Enable ODID subsystem ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable ODID subsystem +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _DID_MAVPORT: DID\_MAVPORT: MAVLink serial port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Serial port number to send OpenDroneID MAVLink messages to\. Can be \-1 if using DroneCAN\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | -1 | Disabled | | | +-------+----------+ | | | 0 | Serial0 | | | +-------+----------+ | | | 1 | Serial1 | | | +-------+----------+ | | | 2 | Serial2 | | | +-------+----------+ | | | 3 | Serial3 | | | +-------+----------+ | | | 4 | Serial4 | | | +-------+----------+ | | | 5 | Serial5 | | | +-------+----------+ | | | 6 | Serial6 | | | +-------+----------+ | | | +----------------------+ .. _DID_CANDRIVER: DID\_CANDRIVER: DroneCAN driver number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ DroneCAN driver index\, 0 to disable DroneCAN +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Driver1 | | | +-------+----------+ | | | 2 | Driver2 | | | +-------+----------+ | | | +----------------------+ .. _DID_OPTIONS: DID\_OPTIONS: OpenDroneID options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for OpenDroneID subsystem +-------------------------------------+ | Bitmask | +=====================================+ | +-----+---------------------------+ | | | Bit | Meaning | | | +=====+===========================+ | | | 0 | EnforcePreArmChecks | | | +-----+---------------------------+ | | | 1 | AllowNonGPSPosition | | | +-----+---------------------------+ | | | 2 | LockUASIDOnFirstBasicIDRx | | | +-----+---------------------------+ | | | +-------------------------------------+ .. _DID_BARO_ACC: DID\_BARO\_ACC: Barometer vertical accuraacy ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Barometer Vertical Accuracy when installed in the vehicle\. Note this is dependent upon installation conditions and thus disabled by default +--------+ | Units | +========+ | meters | +--------+ .. _parameters_EAHRS: EAHRS Parameters ---------------- .. _EAHRS_TYPE: EAHRS\_TYPE: AHRS type ~~~~~~~~~~~~~~~~~~~~~~ Type of AHRS device +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | None | | | +-------+--------------+ | | | 1 | VectorNav | | | +-------+--------------+ | | | 2 | MicroStrain5 | | | +-------+--------------+ | | | 5 | InertialLabs | | | +-------+--------------+ | | | 6 | Trimble GSOF | | | +-------+--------------+ | | | 7 | MicroStrain7 | | | +-------+--------------+ | | | 8 | SBG | | | +-------+--------------+ | | | 10 | Aeron | | | +-------+--------------+ | | | 11 | SensAItion | | | +-------+--------------+ | | | +--------------------------+ .. _EAHRS_RATE: EAHRS\_RATE: AHRS data rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Requested rate for AHRS device +-------+ | Units | +=======+ | hertz | +-------+ .. _EAHRS_OPTIONS: EAHRS\_OPTIONS: External AHRS options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ External AHRS options bitmask +----------------------------------------------------------------------+ | Bitmask | +======================================================================+ | +-----+------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+============================================================+ | | | 0 | Vector Nav use uncompensated values for accel gyro and mag | | | +-----+------------------------------------------------------------+ | | | 1 | SBG uses EKF as GNSS | | | +-----+------------------------------------------------------------+ | | | 2 | SensAItion used as AHRS | | | +-----+------------------------------------------------------------+ | | | +----------------------------------------------------------------------+ .. _EAHRS_SENSORS: EAHRS\_SENSORS: External AHRS sensors ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* External AHRS sensors bitmask +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 0 | GPS | | | +-----+---------+ | | | 1 | IMU | | | +-----+---------+ | | | 2 | Baro | | | +-----+---------+ | | | 3 | Compass | | | +-----+---------+ | | | +-------------------+ .. _EAHRS_LOG_RATE: EAHRS\_LOG\_RATE: AHRS logging rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Logging rate for EAHRS devices +-------+ | Units | +=======+ | hertz | +-------+ .. _parameters_EFI: EFI Parameters -------------- .. _EFI_TYPE: EFI\_TYPE: EFI communication type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* What method of communication is used for EFI \#1 +---------------------------+ | 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_EK2_: EK2\_ Parameters ---------------- .. _EK2_ENABLE: EK2\_ENABLE: Enable EKF2 ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This enables EKF2\. Enabling EKF2 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=2\. A reboot or restart will need to be performed after changing the value of EK2\_ENABLE for it to take effect\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _EK2_GPS_TYPE: EK2\_GPS\_TYPE: GPS mode control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls use of GPS measurements \: 0 \= use 3D velocity \& 2D position\, 1 \= use 2D velocity and 2D position\, 2 \= use 2D position\, 3 \= Inhibit GPS use \- this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors\. +-----------------------------------+ | Values | +===================================+ | +-------+-----------------------+ | | | Value | Meaning | | | +=======+=======================+ | | | 0 | GPS 3D Vel and 2D Pos | | | +-------+-----------------------+ | | | 1 | GPS 2D vel and 2D pos | | | +-------+-----------------------+ | | | 2 | GPS 2D pos | | | +-------+-----------------------+ | | | 3 | No GPS | | | +-------+-----------------------+ | | | +-----------------------------------+ .. _EK2_VELNE_M_NSE: EK2\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 5.0 | meters per second | +-----------+-------------+-------------------+ .. _EK2_VELD_M_NSE: EK2\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 5.0 | meters per second | +-----------+-------------+-------------------+ .. _EK2_VEL_I_GATE: EK2\_VEL\_I\_GATE: GPS velocity innovation gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_POSNE_M_NSE: EK2\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK2_POS_I_GATE: EK2\_POS\_I\_GATE: GPS position measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_GLITCH_RAD: EK2\_GLITCH\_RAD: GPS glitch radius gate size \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. +-----------+-----------+--------+ | Increment | Range | Units | +===========+===========+========+ | 5 | 10 to 100 | meters | +-----------+-----------+--------+ .. _EK2_ALT_SOURCE: EK2\_ALT\_SOURCE: Primary altitude sensor source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Primary height sensor used by the EKF\. If a sensor other than Baro is selected and becomes unavailable\, then the Baro sensor will be used as a fallback\. NOTE\: The EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground in conjunction with EK2\_ALT\_SOURCE \= 0 or 2 \(Baro or GPS\)\. +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | Use Baro | | | +-------+------------------+ | | | 1 | Use Range Finder | | | +-------+------------------+ | | | 2 | Use GPS | | | +-------+------------------+ | | | 3 | Use Range Beacon | | | +-------+------------------+ | | | +------------------------------+ .. _EK2_ALT_M_NSE: EK2\_ALT\_M\_NSE: Altitude measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK2_HGT_I_GATE: EK2\_HGT\_I\_GATE: Height measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_HGT_DELAY: EK2\_HGT\_DELAY: Height measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the Height measurements lag behind the inertial measurements\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 250 | milliseconds | +-----------+----------+--------------+ .. _EK2_MAG_M_NSE: EK2\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+-------+ | Increment | Range | Units | +===========+=============+=======+ | 0.01 | 0.01 to 0.5 | gauss | +-----------+-------------+-------+ .. _EK2_MAG_CAL: EK2\_MAG\_CAL: Magnetometer default fusion mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states\, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK2\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK2\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK2\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK2\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK2\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK2\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 with COMPASS\_ENABLE set to 1\. If this is done\, the EK2\_GSF\_RUN and EK2\_GSF\_USE masks must be set to the same as EK2\_IMU\_MASK\. +-----------------------------------------+ | Values | +=========================================+ | +-------+-----------------------------+ | | | Value | Meaning | | | +=======+=============================+ | | | 0 | When flying | | | +-------+-----------------------------+ | | | 1 | When manoeuvring | | | +-------+-----------------------------+ | | | 2 | Never | | | +-------+-----------------------------+ | | | 3 | After first climb yaw reset | | | +-------+-----------------------------+ | | | 4 | Always | | | +-------+-----------------------------+ | | | +-----------------------------------------+ .. _EK2_MAG_I_GATE: EK2\_MAG\_I\_GATE: Magnetometer measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_EAS_M_NSE: EK2\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.1 | 0.5 to 5.0 | meters per second | +-----------+------------+-------------------+ .. _EK2_EAS_I_GATE: EK2\_EAS\_I\_GATE: Airspeed measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_RNG_M_NSE: EK2\_RNG\_M\_NSE: Range finder measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK2_RNG_I_GATE: EK2\_RNG\_I\_GATE: Range finder measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_MAX_FLOW: EK2\_MAX\_FLOW: Maximum valid optical flow rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter +-----------+------------+--------------------+ | Increment | Range | Units | +===========+============+====================+ | 0.1 | 1.0 to 4.0 | radians per second | +-----------+------------+--------------------+ .. _EK2_FLOW_M_NSE: EK2\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+--------------------+ | Increment | Range | Units | +===========+=============+====================+ | 0.05 | 0.05 to 1.0 | radians per second | +-----------+-------------+--------------------+ .. _EK2_FLOW_I_GATE: EK2\_FLOW\_I\_GATE: Optical Flow measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_FLOW_DELAY: EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 127 | milliseconds | +-----------+----------+--------------+ .. _EK2_GYRO_P_NSE: EK2\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. +-----------+---------------+--------------------+ | Increment | Range | Units | +===========+===============+====================+ | 0.0001 | 0.0001 to 0.1 | radians per second | +-----------+---------------+--------------------+ .. _EK2_ACC_P_NSE: EK2\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.01 | 0.01 to 1.0 | meters per square second | +-----------+-------------+--------------------------+ .. _EK2_GBIAS_P_NSE: EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. +------------------+---------------------------+ | Range | Units | +==================+===========================+ | 0.00001 to 0.001 | radians per square second | +------------------+---------------------------+ .. _EK2_GSCL_P_NSE: EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\. +-------------------+-------+ | Range | Units | +===================+=======+ | 0.000001 to 0.001 | hertz | +-------------------+-------+ .. _EK2_ABIAS_P_NSE: EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. +------------------+-------------------------+ | Range | Units | +==================+=========================+ | 0.00001 to 0.005 | meters per cubic second | +------------------+-------------------------+ .. _EK2_WIND_P_NSE: EK2\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.1 | 0.01 to 1.0 | meters per square second | +-----------+-------------+--------------------------+ .. _EK2_WIND_PSCALE: EK2\_WIND\_PSCALE: Height rate to wind process noise scaler ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.0 to 1.0 | +-----------+------------+ .. _EK2_GPS_CHECK: EK2\_GPS\_CHECK: GPS preflight check ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. +--------------------------+ | Bitmask | +==========================+ | +-----+----------------+ | | | Bit | Meaning | | | +=====+================+ | | | 0 | NSats | | | +-----+----------------+ | | | 1 | HDoP | | | +-----+----------------+ | | | 2 | speed error | | | +-----+----------------+ | | | 3 | position error | | | +-----+----------------+ | | | 4 | yaw error | | | +-----+----------------+ | | | 5 | pos drift | | | +-----+----------------+ | | | 6 | vert speed | | | +-----+----------------+ | | | 7 | horiz speed | | | +-----+----------------+ | | | +--------------------------+ .. _EK2_IMU_MASK: EK2\_IMU\_MASK: Bitmask of active IMUs ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of IMUs to use in EKF2\. A separate instance of EKF2 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF2 will fail to start\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | Bit | Meaning | | | +=====+===========+ | | | 0 | FirstIMU | | | +-----+-----------+ | | | 1 | SecondIMU | | | +-----+-----------+ | | | 2 | ThirdIMU | | | +-----+-----------+ | | | 3 | FourthIMU | | | +-----+-----------+ | | | 4 | FifthIMU | | | +-----+-----------+ | | | 5 | SixthIMU | | | +-----+-----------+ | | | +---------------------+ .. _EK2_CHECK_SCALE: EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. +-----------+---------+ | Range | Units | +===========+=========+ | 50 to 200 | percent | +-----------+---------+ .. _EK2_NOAID_M_NSE: EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. +-------------+--------+ | Range | Units | +=============+========+ | 0.5 to 50.0 | meters | +-------------+--------+ .. _EK2_YAW_M_NSE: EK2\_YAW\_M\_NSE: Yaw measurement noise \(rad\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 0.05 | 0.05 to 1.0 | radians | +-----------+-------------+---------+ .. _EK2_YAW_I_GATE: EK2\_YAW\_I\_GATE: Yaw measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_TAU_OUTPUT: EK2\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 5 | 10 to 50 | centiseconds | +-----------+----------+--------------+ .. _EK2_MAGE_P_NSE: EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. +-----------------+------------------+ | Range | Units | +=================+==================+ | 0.00001 to 0.01 | gauss per second | +-----------------+------------------+ .. _EK2_MAGB_P_NSE: EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. +-----------------+------------------+ | Range | Units | +=================+==================+ | 0.00001 to 0.01 | gauss per second | +-----------------+------------------+ .. _EK2_RNG_USE_HGT: EK2\_RNG\_USE\_HGT: Range finder switch height percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFND\*\_MAX\)\. This will not work unless Baro or GPS height is selected as the primary height source vis EK2\_ALT\_SOURCE \= 0 or 2 respectively\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | -1 to 70 | percent | +-----------+----------+---------+ .. _EK2_TERR_GRAD: EK2\_TERR\_GRAD: Maximum terrain gradient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.01 | 0 to 0.2 | +-----------+----------+ .. _EK2_BCN_M_NSE: EK2\_BCN\_M\_NSE: Range beacon measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK2_BCN_I_GTE: EK2\_BCN\_I\_GTE: Range beacon measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK2_BCN_DELAY: EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the range beacon measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 127 | milliseconds | +-----------+----------+--------------+ .. _EK2_RNG_USE_SPD: EK2\_RNG\_USE\_SPD: Range finder max ground speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.5 | 2.0 to 6.0 | meters per second | +-----------+------------+-------------------+ .. _EK2_MAG_MASK: EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | Bit | Meaning | | | +=====+===========+ | | | 0 | FirstEKF | | | +-----+-----------+ | | | 1 | SecondEKF | | | +-----+-----------+ | | | 2 | ThirdEKF | | | +-----+-----------+ | | | 3 | FourthEKF | | | +-----+-----------+ | | | 4 | FifthEKF | | | +-----+-----------+ | | | 5 | SixthEKF | | | +-----+-----------+ | | | +---------------------+ .. _EK2_OGN_HGT_MASK: EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. +--------------------------------------------------+ | Bitmask | +==================================================+ | +-----+----------------------------------------+ | | | Bit | Meaning | | | +=====+========================================+ | | | 0 | Correct when using Baro height | | | +-----+----------------------------------------+ | | | 1 | Correct when using range finder height | | | +-----+----------------------------------------+ | | | 2 | Apply corrections to local position | | | +-----+----------------------------------------+ | | | +--------------------------------------------------+ .. _EK2_FLOW_USE: EK2\_FLOW\_USE: Optical flow use bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | None | | | +-------+------------+ | | | 1 | Navigation | | | +-------+------------+ | | | 2 | Terrain | | | +-------+------------+ | | | +------------------------+ .. _EK2_MAG_EF_LIM: EK2\_MAG\_EF\_LIM: EarthField error limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. +----------+------------+ | Range | Units | +==========+============+ | 0 to 500 | milligauss | +----------+------------+ .. _EK2_HRT_FILT: EK2\_HRT\_FILT: Height rate filter crossover frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. +-------------+-------+ | Range | Units | +=============+=======+ | 0.1 to 30.0 | hertz | +-------------+-------+ .. _EK2_GSF_RUN_MASK: EK2\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A bitmask of which EKF2 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK2\_GSF\_USE\_MASK and EK2\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK2\_GSF\_USE\_MASK to 0\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | Bit | Meaning | | | +=====+===========+ | | | 0 | FirstEKF | | | +-----+-----------+ | | | 1 | SecondEKF | | | +-----+-----------+ | | | 2 | ThirdEKF | | | +-----+-----------+ | | | 3 | FourthEKF | | | +-----+-----------+ | | | 4 | FifthEKF | | | +-----+-----------+ | | | 5 | SixthEKF | | | +-----+-----------+ | | | +---------------------+ .. _EK2_GSF_USE_MASK: EK2\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of which EKF2 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK2\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF2 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | Bit | Meaning | | | +=====+===========+ | | | 0 | FirstEKF | | | +-----+-----------+ | | | 1 | SecondEKF | | | +-----+-----------+ | | | 2 | ThirdEKF | | | +-----+-----------+ | | | 3 | FourthEKF | | | +-----+-----------+ | | | 4 | FifthEKF | | | +-----+-----------+ | | | 5 | SixthEKF | | | +-----+-----------+ | | | +---------------------+ .. _EK2_GSF_RST_MAX: EK2\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK2\_GSF\_USE\_MASK parameter\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 10 | +-----------+---------+ .. _EK2_OPTIONS: EK2\_OPTIONS: Optional EKF behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* optional EKF2 behaviour\. Disabling external navigation prevents use of external vision data in the EKF2 solution +-------------------------------------+ | Bitmask | +=====================================+ | +-----+---------------------------+ | | | Bit | Meaning | | | +=====+===========================+ | | | 0 | DisableExternalNavigation | | | +-----+---------------------------+ | | | +-------------------------------------+ .. _parameters_EK3_: EK3\_ Parameters ---------------- .. _EK3_ENABLE: EK3\_ENABLE: Enable EKF3 ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This enables EKF3\. Enabling EKF3 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=3\. A reboot or restart will need to be performed after changing the value of EK3\_ENABLE for it to take effect\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _EK3_VELNE_M_NSE: EK3\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 5.0 | meters per second | +-----------+-------------+-------------------+ .. _EK3_VELD_M_NSE: EK3\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 5.0 | meters per second | +-----------+-------------+-------------------+ .. _EK3_VEL_I_GATE: EK3\_VEL\_I\_GATE: GPS velocity innovation gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_VEL\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_POSNE_M_NSE: EK3\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK3_POS_I_GATE: EK3\_POS\_I\_GATE: GPS position measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3\_POS\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_GLITCH_RAD: EK3\_GLITCH\_RAD: GPS glitch radius gate size \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. If EK3\_GLITCH\_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches\. If setting EK3\_GLITCH\_RAD to 0 it is recommended to reduce EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE to 300\. +-----------+-----------+--------+ | Increment | Range | Units | +===========+===========+========+ | 5 | 10 to 100 | meters | +-----------+-----------+--------+ .. _EK3_ALT_M_NSE: EK3\_ALT\_M\_NSE: Altitude measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. A larger value for EK3\_ALT\_M\_NSE may be required when operating with EK3\_SRCx\_POSZ \= 0\. This parameter also sets the noise for the \'synthetic\' zero height measurement that is used when EK3\_SRCx\_POSZ \= 0\. +-----------+---------------+--------+ | Increment | Range | Units | +===========+===============+========+ | 0.1 | 0.01 to 100.0 | meters | +-----------+---------------+--------+ .. _EK3_HGT_I_GATE: EK3\_HGT\_I\_GATE: Height measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_HGT\_I\_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_HGT_DELAY: EK3\_HGT\_DELAY: Height measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the Height measurements lag behind the inertial measurements\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 250 | milliseconds | +-----------+----------+--------------+ .. _EK3_MAG_M_NSE: EK3\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+-------+ | Increment | Range | Units | +===========+=============+=======+ | 0.01 | 0.01 to 0.5 | gauss | +-----------+-------------+-------+ .. _EK3_MAG_CAL: EK3\_MAG\_CAL: Magnetometer default fusion mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK3\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK3\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK3\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK3\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK3\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. EK3\_MAG\_CAL \= 7 uses 3\-axis fusion on the ground and after the first in\-air field and yaw reset has completed\. This allows the magnetic field to be learned on the ground before takeoff \(useful when swapping batteries with different magnetic signatures\) while inhibiting learning during the initial climb when motor magnetic interference is strongest\. While disarmed and stationary the yaw is additionally anchored to the measured magnetic heading\, since a stationary vehicle gives the 3\-axis fusion no way to separate a yaw error from the body field states\. A body field component perpendicular to the horizontal earth field is not separable from yaw by a heading measurement\, so it appears as a heading offset rather than being learned\. NOTE \: Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 and setting COMPASS\_ENABLE to 0\. If this is done\, the EK3\_GSF\_RUN and EK3\_GSF\_USE masks must be set to the same as EK3\_IMU\_MASK\. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter \(GSF\) will then be used to align the yaw when flight commences and there is sufficient movement\. +---------------------------------------------------------------------------------------------+ | Values | +=============================================================================================+ | +-------+---------------------------------------------------------------------------------+ | | | Value | Meaning | | | +=======+=================================================================================+ | | | 0 | When flying | | | +-------+---------------------------------------------------------------------------------+ | | | 1 | When manoeuvring | | | +-------+---------------------------------------------------------------------------------+ | | | 2 | Never | | | +-------+---------------------------------------------------------------------------------+ | | | 3 | After first climb yaw reset | | | +-------+---------------------------------------------------------------------------------+ | | | 4 | Always | | | +-------+---------------------------------------------------------------------------------+ | | | 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) | | | +-------+---------------------------------------------------------------------------------+ | | | 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) | | | +-------+---------------------------------------------------------------------------------+ | | | 7 | On ground and after first climb yaw reset | | | +-------+---------------------------------------------------------------------------------+ | | | +---------------------------------------------------------------------------------------------+ .. _EK3_MAG_I_GATE: EK3\_MAG\_I\_GATE: Magnetometer measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_EAS_M_NSE: EK3\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.1 | 0.5 to 5.0 | meters per second | +-----------+------------+-------------------+ .. _EK3_EAS_I_GATE: EK3\_EAS\_I\_GATE: Airspeed measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_RNG_M_NSE: EK3\_RNG\_M\_NSE: Range finder measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK3_RNG_I_GATE: EK3\_RNG\_I\_GATE: Range finder measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_FLOW_MAX: EK3\_FLOW\_MAX: Optical flow rate maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum optical flow rate in rad\/sec that will be accepted by the filter\. Flow rates above this value will not be fused\. +-----------+------------+--------------------+ | Increment | Range | Units | +===========+============+====================+ | 0.1 | 1.0 to 4.0 | radians per second | +-----------+------------+--------------------+ .. _EK3_FLOW_M_NSE: EK3\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+--------------------+ | Increment | Range | Units | +===========+=============+====================+ | 0.05 | 0.05 to 1.0 | radians per second | +-----------+-------------+--------------------+ .. _EK3_FLOW_I_GATE: EK3\_FLOW\_I\_GATE: Optical Flow measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_FLOW_DELAY: EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 250 | milliseconds | +-----------+----------+--------------+ .. _EK3_GYRO_P_NSE: EK3\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. +-----------+---------------+--------------------+ | Increment | Range | Units | +===========+===============+====================+ | 0.0001 | 0.0001 to 0.1 | radians per second | +-----------+---------------+--------------------+ .. _EK3_ACC_P_NSE: EK3\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.01 | 0.01 to 1.0 | meters per square second | +-----------+-------------+--------------------------+ .. _EK3_GBIAS_P_NSE: EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. +------------------+---------------------------+ | Range | Units | +==================+===========================+ | 0.00001 to 0.001 | radians per square second | +------------------+---------------------------+ .. _EK3_ABIAS_P_NSE: EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. +-----------------+-------------------------+ | Range | Units | +=================+=========================+ | 0.00001 to 0.02 | meters per cubic second | +-----------------+-------------------------+ .. _EK3_WIND_P_NSE: EK3\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.1 | 0.01 to 2.0 | meters per square second | +-----------+-------------+--------------------------+ .. _EK3_WIND_PSCALE: EK3\_WIND\_PSCALE: Height rate to wind process noise scaler ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.0 to 2.0 | +-----------+------------+ .. _EK3_GPS_CHECK: EK3\_GPS\_CHECK: GPS preflight check ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. +--------------------------+ | Bitmask | +==========================+ | +-----+----------------+ | | | Bit | Meaning | | | +=====+================+ | | | 0 | NSats | | | +-----+----------------+ | | | 1 | HDoP | | | +-----+----------------+ | | | 2 | speed error | | | +-----+----------------+ | | | 3 | position error | | | +-----+----------------+ | | | 4 | yaw error | | | +-----+----------------+ | | | 5 | pos drift | | | +-----+----------------+ | | | 6 | vert speed | | | +-----+----------------+ | | | 7 | horiz speed | | | +-----+----------------+ | | | +--------------------------+ .. _EK3_IMU_MASK: EK3\_IMU\_MASK: Bitmask of active IMUs ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of IMUs to use in EKF3\. A separate instance of EKF3 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF3 will fail to start\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | Bit | Meaning | | | +=====+===========+ | | | 0 | FirstIMU | | | +-----+-----------+ | | | 1 | SecondIMU | | | +-----+-----------+ | | | 2 | ThirdIMU | | | +-----+-----------+ | | | 3 | FourthIMU | | | +-----+-----------+ | | | 4 | FifthIMU | | | +-----+-----------+ | | | 5 | SixthIMU | | | +-----+-----------+ | | | +---------------------+ .. _EK3_CHECK_SCALE: EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. +-----------+---------+ | Range | Units | +===========+=========+ | 50 to 200 | percent | +-----------+---------+ .. _EK3_NOAID_M_NSE: EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. +-------------+--------+ | Range | Units | +=============+========+ | 0.5 to 50.0 | meters | +-------------+--------+ .. _EK3_BETA_MASK: EK3\_BETA\_MASK: Bitmask controlling sidelip angle fusion ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of \'fly forward\' vehicle types such as fixed wing planes\. By assuming that the angle of sideslip is small\, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning \(e\.g\. has an independent velocity or position sensor such as GPS\)\. This behaviour is on by default and cannot be disabled\. When the EKF is dead reckoning\, the wind states are used as a reference\, enabling use of the small angle of sideslip assumption to correct non wind velocity states \(eg attitude\, velocity\, position\, etc\) and improve navigation accuracy\. This behaviour is on by default and cannot be disabled\. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning\. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor \(e\.g\. magnetometer or dual antenna GPS yaw\) provided aerobatic flight maneuvers with large sideslip angles are not performed\. The \'always\' option might be used where the yaw sensor is intentionally not fitted or disabled\. The \'WhenNoYawSensor\' option might be used if a yaw sensor is fitted\, but protection against in\-flight failure and continual rejection by the EKF is desired\. For vehicles operated within visual range of the operator performing frequent turning maneuvers\, setting this parameter is unnecessary\. +---------------------------+ | Bitmask | +===========================+ | +-----+-----------------+ | | | Bit | Meaning | | | +=====+=================+ | | | 0 | Always | | | +-----+-----------------+ | | | 1 | WhenNoYawSensor | | | +-----+-----------------+ | | | +---------------------------+ .. _EK3_YAW_M_NSE: EK3\_YAW\_M\_NSE: Yaw measurement noise \(rad\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 0.05 | 0.05 to 1.0 | radians | +-----------+-------------+---------+ .. _EK3_YAW_I_GATE: EK3\_YAW\_I\_GATE: Yaw measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_TAU_OUTPUT: EK3\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 5 | 10 to 50 | centiseconds | +-----------+----------+--------------+ .. _EK3_MAGE_P_NSE: EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. +-----------------+------------------+ | Range | Units | +=================+==================+ | 0.00001 to 0.01 | gauss per second | +-----------------+------------------+ .. _EK3_MAGB_P_NSE: EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. +-----------------+------------------+ | Range | Units | +=================+==================+ | 0.00001 to 0.01 | gauss per second | +-----------------+------------------+ .. _EK3_RNG_USE_HGT: EK3\_RNG\_USE\_HGT: Range finder switch height percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFNDx\_MAX\) and the primary height source is Baro or GPS \(see EK3\_SRCx\_POSZ\)\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | -1 to 70 | percent | +-----------+----------+---------+ .. _EK3_TERR_GRAD: EK3\_TERR\_GRAD: Maximum terrain gradient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference +-----------+----------+ | Increment | Range | +===========+==========+ | 0.01 | 0 to 0.2 | +-----------+----------+ .. _EK3_BCN_M_NSE: EK3\_BCN\_M\_NSE: Range beacon measurement noise \(m\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.1 to 10.0 | meters | +-----------+-------------+--------+ .. _EK3_BCN_I_GTE: EK3\_BCN\_I\_GTE: Range beacon measurement gate size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 25 | 100 to 1000 | +-----------+-------------+ .. _EK3_BCN_DELAY: EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This is the number of msec that the range beacon measurements lag behind the inertial measurements\. +-----------+----------+--------------+ | Increment | Range | Units | +===========+==========+==============+ | 10 | 0 to 250 | milliseconds | +-----------+----------+--------------+ .. _EK3_RNG_USE_SPD: EK3\_RNG\_USE\_SPD: Range finder max ground speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.5 | 2.0 to 6.0 | meters per second | +-----------+------------+-------------------+ .. _EK3_ACC_BIAS_LIM: EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The accelerometer bias state will be limited to \+\- this value +-----------+------------+--------------------------+ | Increment | Range | Units | +===========+============+==========================+ | 0.1 | 0.5 to 2.5 | meters per square second | +-----------+------------+--------------------------+ .. _EK3_MAG_MASK: EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | Bit | Meaning | | | +=====+===========+ | | | 0 | FirstEKF | | | +-----+-----------+ | | | 1 | SecondEKF | | | +-----+-----------+ | | | 2 | ThirdEKF | | | +-----+-----------+ | | | 3 | FourthEKF | | | +-----+-----------+ | | | 4 | FifthEKF | | | +-----+-----------+ | | | 5 | SixthEKF | | | +-----+-----------+ | | | +---------------------+ .. _EK3_OGN_HGT_MASK: EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. +--------------------------------------------------+ | Bitmask | +==================================================+ | +-----+----------------------------------------+ | | | Bit | Meaning | | | +=====+========================================+ | | | 0 | Correct when using Baro height | | | +-----+----------------------------------------+ | | | 1 | Correct when using range finder height | | | +-----+----------------------------------------+ | | | 2 | Apply corrections to local position | | | +-----+----------------------------------------+ | | | +--------------------------------------------------+ .. _EK3_VIS_VERR_MIN: EK3\_VIS\_VERR\_MIN: Visual odometry minimum velocity error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1\-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.05 | 0.05 to 0.5 | meters per second | +-----------+-------------+-------------------+ .. _EK3_VIS_VERR_MAX: EK3\_VIS\_VERR\_MAX: Visual odometry maximum velocity error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1\-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.1 | 0.5 to 5.0 | meters per second | +-----------+------------+-------------------+ .. _EK3_WENC_VERR: EK3\_WENC\_VERR: Wheel odometry velocity error ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the 1\-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.1 | 0.01 to 1.0 | meters per second | +-----------+-------------+-------------------+ .. _EK3_FLOW_USE: EK3\_FLOW\_USE: Optical flow use bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | None | | | +-------+------------+ | | | 1 | Navigation | | | +-------+------------+ | | | 2 | Terrain | | | +-------+------------+ | | | +------------------------+ .. _EK3_HRT_FILT: EK3\_HRT\_FILT: Height rate filter crossover frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. +-------------+-------+ | Range | Units | +=============+=======+ | 0.1 to 30.0 | hertz | +-------------+-------+ .. _EK3_MAG_EF_LIM: EK3\_MAG\_EF\_LIM: EarthField error limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. +----------+------------+ | Range | Units | +==========+============+ | 0 to 500 | milligauss | +----------+------------+ .. _EK3_GSF_RUN_MASK: EK3\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* 1 byte bitmap of which EKF3 instances run an independent EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK3\_GSF\_USE\_MASK and EK3\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK3\_GSF\_USE to 0\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | Bit | Meaning | | | +=====+===========+ | | | 0 | FirstEKF | | | +-----+-----------+ | | | 1 | SecondEKF | | | +-----+-----------+ | | | 2 | ThirdEKF | | | +-----+-----------+ | | | 3 | FourthEKF | | | +-----+-----------+ | | | 4 | FifthEKF | | | +-----+-----------+ | | | 5 | SixthEKF | | | +-----+-----------+ | | | +---------------------+ .. _EK3_GSF_USE_MASK: EK3\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* A bitmask of which EKF3 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK3\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF3 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance\. +---------------------+ | Bitmask | +=====================+ | +-----+-----------+ | | | Bit | Meaning | | | +=====+===========+ | | | 0 | FirstEKF | | | +-----+-----------+ | | | 1 | SecondEKF | | | +-----+-----------+ | | | 2 | ThirdEKF | | | +-----+-----------+ | | | 3 | FourthEKF | | | +-----+-----------+ | | | 4 | FifthEKF | | | +-----+-----------+ | | | 5 | SixthEKF | | | +-----+-----------+ | | | +---------------------+ .. _EK3_FLOW_GAIN_H: EK3\_FLOW\_GAIN\_H: Optical flow nav gain full\-scale height ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Height below which the navigation velocity gain is left at full scale while navigating on optical flow\. Above it the gain falls as this value divided by the height above ground\, to allow for flow velocity noise that grows with height\. Larger values keep position hold more responsive at height\, at more risk of a flow\-driven oscillation\. Values below 1 are treated as 1\. Takes effect immediately\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 1 | 1 to 40 | meters | +-----------+---------+--------+ .. _EK3_GSF_RST_MAX: EK3\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK3\_GSF\_USE\_MASK parameter\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 10 | +-----------+---------+ .. _EK3_ERR_THRESH: EK3\_ERR\_THRESH: EKF3 Lane Relative Error Sensitivity Threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError\, lowering this makes lane switching more sensitive to smaller error differences +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.05 | 0.05 to 1 | +-----------+-----------+ .. _EK3_AFFINITY: EK3\_AFFINITY: EKF3 Sensor Affinity Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* These options control the affinity between sensor instances and EKF cores +----------------------------------+ | Bitmask | +==================================+ | +-----+------------------------+ | | | Bit | Meaning | | | +=====+========================+ | | | 0 | EnableGPSAffinity | | | +-----+------------------------+ | | | 1 | EnableBaroAffinity | | | +-----+------------------------+ | | | 2 | EnableCompassAffinity | | | +-----+------------------------+ | | | 3 | EnableAirspeedAffinity | | | +-----+------------------------+ | | | +----------------------------------+ .. _EK3_DRAG_BCOEF_X: EK3\_DRAG\_BCOEF\_X: Ballistic coefficient for X axis drag ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Ratio of mass to drag coefficient measured along the X body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a positive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the frontal area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. +---------------+----------------------------+ | Range | Units | +===============+============================+ | 0.0 to 1000.0 | kilograms per square meter | +---------------+----------------------------+ .. _EK3_DRAG_BCOEF_Y: EK3\_DRAG\_BCOEF\_Y: Ballistic coefficient for Y axis drag ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Ratio of mass to drag coefficient measured along the Y body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a positive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the side area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. +----------------+----------------------------+ | Range | Units | +================+============================+ | 50.0 to 1000.0 | kilograms per square meter | +----------------+----------------------------+ .. _EK3_DRAG_M_NSE: EK3\_DRAG\_M\_NSE: Observation noise for drag acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the amount of noise used when fusing X and Y acceleration as an observation that enables estimation of wind velocity for multi\-rotor vehicles\. This feature is enabled by the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters +-----------+------------+--------------------------+ | Increment | Range | Units | +===========+============+==========================+ | 0.1 | 0.1 to 2.0 | meters per square second | +-----------+------------+--------------------------+ .. _EK3_DRAG_MCOEF: EK3\_DRAG\_MCOEF: Momentum coefficient for propeller drag ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter is used to predict the drag produced by the rotors when flying a multi\-copter\, enabling estimation of wind drift\. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag\. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers\. It is higher for ducted rotors\. For example if flying at 15 m\/s at sea level conditions produces a rotor induced drag acceleration of 1\.5 m\/s\/s\, then EK3\_DRAG\_MCOEF would be set to 0\.1 \= \(1\.5\/15\.0\)\. Set EK3\_MCOEF to a positive value to enable wind estimation using this drag effect\. To account for the drag produced by the body which scales with speed squared\, see documentation for the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters\. +-----------+------------+------------+ | Increment | Range | Units | +===========+============+============+ | 0.01 | 0.0 to 1.0 | per second | +-----------+------------+------------+ .. _EK3_OGNM_TEST_SF: EK3\_OGNM\_TEST\_SF: On ground not moving test scale factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor\. Bigger values allow the detection of a not moving condition with noiser IMU data\. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM\_TEST\_SF to be slightly higher than the maximum value of the XKFM\.ADR\, XKFM\.ALR\, XKFM\.GDR and XKFM\.GLR test levels\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.5 | 1.0 to 10.0 | +-----------+-------------+ .. _EK3_GND_EFF_DZ: EK3\_GND\_EFF\_DZ: Baro height ground effect dead zone ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect\. Set to about 0\.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up\. Set to 0 if no ground effect is present\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.5 | 0.0 to 10.0 | +-----------+-------------+ .. _EK3_PRIMARY: EK3\_PRIMARY: Primary core number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\. +-----------+--------+ | Increment | Range | +===========+========+ | 1 | 0 to 2 | +-----------+--------+ .. _EK3_LOG_LEVEL: EK3\_LOG\_LEVEL: Logging Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Determines how verbose the EKF3 streaming logging is\. A value of 0 provides full logging\(default\)\, a value of 1 only XKF4 scaled innovations are logged\, a value of 2 both XKF4 and GSF are logged\, and a value of 3 disables all streaming logging of EKF3\. +-----------+--------+ | Increment | Range | +===========+========+ | 1 | 0 to 3 | +-----------+--------+ .. _EK3_GPS_VACC_MAX: EK3\_GPS\_VACC\_MAX: GPS vertical accuracy threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Vertical accuracy threshold for GPS as the altitude source\. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold\, falling back to baro instead\. Set to zero to deactivate the threshold check\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 0.1 | 0.0 to 10.0 | meters | +-----------+-------------+--------+ .. _EK3_OPTIONS: EK3\_OPTIONS: Optional EKF behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* EKF optional behaviour\. Bit 0 \(JammingExpected\)\: Setting JammingExpected will change the EKF behaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3\_GPS\_CHECK and EK3\_CHECK\_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad position estimate\. Bit 1 \(Manual lane switching\)\: DANGEROUS \– If enabled\, this disables automatic lane switching\. If the active lane becomes unhealthy\, no automatic switching will occur\. Users must manually set EK3\_PRIMARY to change lanes\. No health checks will be performed on the selected lane\. Use with extreme caution\. Bit 2 \(Optflow may use terrain alt\)\: Terrain SRTM data will be used if the vehicle climbs above the rangefinder\'s range allowing optical flow to be used at higher altitudes\. Bit 3 \(AGL KF for optflow scaling\)\: Use a 2\-state IMU\-aided AGL Kalman filter \(height \+ vertical velocity\, fused with rangefinder\) to compute the height\-above\-ground used for optical flow velocity scaling\, instead of terrainState\-pd\. This decouples optical flow scaling from errors in the main filter\'s vertical position state\. +---------------------------------------+ | Bitmask | +=======================================+ | +-----+-----------------------------+ | | | Bit | Meaning | | | +=====+=============================+ | | | 0 | JammingExpected | | | +-----+-----------------------------+ | | | 1 | ManualLaneSwitching | | | +-----+-----------------------------+ | | | 2 | Optflow may use terrain alt | | | +-----+-----------------------------+ | | | 3 | AGL KF for optflow scaling | | | +-----+-----------------------------+ | | | +---------------------------------------+ .. _parameters_EK3_SRC: EK3\_SRC Parameters ------------------- .. _EK3_SRC1_POSXY: EK3\_SRC1\_POSXY: Position Horizontal Source \(Primary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Horizontal Source \(Primary\) +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 3 | GPS | | | +-------+-------------+ | | | 4 | Beacon | | | +-------+-------------+ | | | 6 | ExternalNav | | | +-------+-------------+ | | | +-------------------------+ .. _EK3_SRC1_VELXY: EK3\_SRC1\_VELXY: Velocity Horizontal Source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Horizontal Source +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | None | | | +-------+--------------+ | | | 3 | GPS | | | +-------+--------------+ | | | 4 | Beacon | | | +-------+--------------+ | | | 5 | OpticalFlow | | | +-------+--------------+ | | | 6 | ExternalNav | | | +-------+--------------+ | | | 7 | WheelEncoder | | | +-------+--------------+ | | | +--------------------------+ .. _EK3_SRC1_POSZ: EK3\_SRC1\_POSZ: Position Vertical Source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Vertical Source +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Baro | | | +-------+-------------+ | | | 2 | RangeFinder | | | +-------+-------------+ | | | 3 | GPS | | | +-------+-------------+ | | | 4 | Beacon | | | +-------+-------------+ | | | 6 | ExternalNav | | | +-------+-------------+ | | | +-------------------------+ .. _EK3_SRC1_VELZ: EK3\_SRC1\_VELZ: Velocity Vertical Source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Vertical Source +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 3 | GPS | | | +-------+-------------+ | | | 4 | Beacon | | | +-------+-------------+ | | | 6 | ExternalNav | | | +-------+-------------+ | | | +-------------------------+ .. _EK3_SRC1_YAW: EK3\_SRC1\_YAW: Yaw Source ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Source +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | 0 | None | | | +-------+---------------------------+ | | | 1 | Compass | | | +-------+---------------------------+ | | | 2 | GPS | | | +-------+---------------------------+ | | | 3 | GPS with Compass Fallback | | | +-------+---------------------------+ | | | 6 | ExternalNav | | | +-------+---------------------------+ | | | 8 | GSF | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _EK3_SRC2_POSXY: EK3\_SRC2\_POSXY: Position Horizontal Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Horizontal Source \(Secondary\) +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 3 | GPS | | | +-------+-------------+ | | | 4 | Beacon | | | +-------+-------------+ | | | 6 | ExternalNav | | | +-------+-------------+ | | | +-------------------------+ .. _EK3_SRC2_VELXY: EK3\_SRC2\_VELXY: Velocity Horizontal Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Horizontal Source \(Secondary\) +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | None | | | +-------+--------------+ | | | 3 | GPS | | | +-------+--------------+ | | | 4 | Beacon | | | +-------+--------------+ | | | 5 | OpticalFlow | | | +-------+--------------+ | | | 6 | ExternalNav | | | +-------+--------------+ | | | 7 | WheelEncoder | | | +-------+--------------+ | | | +--------------------------+ .. _EK3_SRC2_POSZ: EK3\_SRC2\_POSZ: Position Vertical Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Vertical Source \(Secondary\) +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Baro | | | +-------+-------------+ | | | 2 | RangeFinder | | | +-------+-------------+ | | | 3 | GPS | | | +-------+-------------+ | | | 4 | Beacon | | | +-------+-------------+ | | | 6 | ExternalNav | | | +-------+-------------+ | | | +-------------------------+ .. _EK3_SRC2_VELZ: EK3\_SRC2\_VELZ: Velocity Vertical Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Vertical Source \(Secondary\) +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 3 | GPS | | | +-------+-------------+ | | | 4 | Beacon | | | +-------+-------------+ | | | 6 | ExternalNav | | | +-------+-------------+ | | | +-------------------------+ .. _EK3_SRC2_YAW: EK3\_SRC2\_YAW: Yaw Source \(Secondary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Source \(Secondary\) +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | 0 | None | | | +-------+---------------------------+ | | | 1 | Compass | | | +-------+---------------------------+ | | | 2 | GPS | | | +-------+---------------------------+ | | | 3 | GPS with Compass Fallback | | | +-------+---------------------------+ | | | 6 | ExternalNav | | | +-------+---------------------------+ | | | 8 | GSF | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _EK3_SRC3_POSXY: EK3\_SRC3\_POSXY: Position Horizontal Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Horizontal Source \(Tertiary\) +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 3 | GPS | | | +-------+-------------+ | | | 4 | Beacon | | | +-------+-------------+ | | | 6 | ExternalNav | | | +-------+-------------+ | | | +-------------------------+ .. _EK3_SRC3_VELXY: EK3\_SRC3\_VELXY: Velocity Horizontal Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Horizontal Source \(Tertiary\) +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | None | | | +-------+--------------+ | | | 3 | GPS | | | +-------+--------------+ | | | 4 | Beacon | | | +-------+--------------+ | | | 5 | OpticalFlow | | | +-------+--------------+ | | | 6 | ExternalNav | | | +-------+--------------+ | | | 7 | WheelEncoder | | | +-------+--------------+ | | | +--------------------------+ .. _EK3_SRC3_POSZ: EK3\_SRC3\_POSZ: Position Vertical Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Position Vertical Source \(Tertiary\) +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Baro | | | +-------+-------------+ | | | 2 | RangeFinder | | | +-------+-------------+ | | | 3 | GPS | | | +-------+-------------+ | | | 4 | Beacon | | | +-------+-------------+ | | | 6 | ExternalNav | | | +-------+-------------+ | | | +-------------------------+ .. _EK3_SRC3_VELZ: EK3\_SRC3\_VELZ: Velocity Vertical Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity Vertical Source \(Tertiary\) +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 3 | GPS | | | +-------+-------------+ | | | 4 | Beacon | | | +-------+-------------+ | | | 6 | ExternalNav | | | +-------+-------------+ | | | +-------------------------+ .. _EK3_SRC3_YAW: EK3\_SRC3\_YAW: Yaw Source \(Tertiary\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Source \(Tertiary\) +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | 0 | None | | | +-------+---------------------------+ | | | 1 | Compass | | | +-------+---------------------------+ | | | 2 | GPS | | | +-------+---------------------------+ | | | 3 | GPS with Compass Fallback | | | +-------+---------------------------+ | | | 6 | ExternalNav | | | +-------+---------------------------+ | | | 8 | GSF | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _EK3_SRC_OPTIONS: EK3\_SRC\_OPTIONS: EKF Source Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* EKF Source Options\. Bit 0\: Fuse all velocity sources present in EK3\_SRCx\_VEL\_\. Bit 1\: Align external navigation position when using optical flow\. Bit 3\: Use SRC per core\. By default\, EKF source selection is controlled via the EK3\_SRC parameters\, allowing only one source to be active at a time across all cores \(switchable via MAVLink\, Lua\, or RC\)\. Enabling this bit maps EKF core 1 to SRC1\, core 2 to SRC2\, etc\.\, allowing each core to run independently with a dedicated source\. +------------------------------------------+ | Bitmask | +==========================================+ | +-----+--------------------------------+ | | | Bit | Meaning | | | +=====+================================+ | | | 0 | FuseAllVelocities | | | +-----+--------------------------------+ | | | 1 | AlignExtNavPosWhenUsingOptFlow | | | +-----+--------------------------------+ | | | 3 | UsePerCoreEKFSources | | | +-----+--------------------------------+ | | | +------------------------------------------+ .. _parameters_ESC_TLM: ESC\_TLM Parameters ------------------- .. _ESC_TLM_MAV_OFS: ESC\_TLM\_MAV\_OFS: ESC Telemetry mavlink offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Offset to apply to ESC numbers when reporting as ESC\_TELEMETRY packets over MAVLink\. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays\. A value of 4 would send ESC on output 5 as ESC number 1 in ESC\_TELEMETRY packets +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 31 | +-----------+---------+ .. _parameters_FENCE_: FENCE\_ Parameters ------------------ .. _FENCE_ENABLE: FENCE\_ENABLE: Fence enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Allows you to enable \(1\) or disable \(0\) the fence functionality\. Fences can still be enabled and disabled via mavlink or an RC option\, but these changes are not persisted\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _FENCE_TYPE: FENCE\_TYPE: Fence Type ~~~~~~~~~~~~~~~~~~~~~~~ Configured fence types held as bitmask\. Max altitude\, Circle and Polygon fences will be immediately enabled if configured\. Min altitude fence will only be enabled once the minimum altitude is reached\. +------------------------------------------------+ | Bitmask | +================================================+ | +-----+--------------------------------------+ | | | Bit | Meaning | | | +=====+======================================+ | | | 0 | Max altitude | | | +-----+--------------------------------------+ | | | 1 | Circle Centered on Home | | | +-----+--------------------------------------+ | | | 2 | Inclusion/Exclusion Circles+Polygons | | | +-----+--------------------------------------+ | | | 3 | Min altitude | | | +-----+--------------------------------------+ | | | +------------------------------------------------+ .. _FENCE_ACTION: FENCE\_ACTION: Fence Action ~~~~~~~~~~~~~~~~~~~~~~~~~~~ What action should be taken when fence is breached +-------------------------------------------+ | Values | +===========================================+ | +-------+-------------------------------+ | | | Value | Meaning | | | +=======+===============================+ | | | 0 | Report Only | | | +-------+-------------------------------+ | | | 1 | RTL | | | +-------+-------------------------------+ | | | 6 | Guided | | | +-------+-------------------------------+ | | | 7 | GuidedThrottlePass | | | +-------+-------------------------------+ | | | 8 | AUTOLAND if possible else RTL | | | +-------+-------------------------------+ | | | +-------------------------------------------+ .. _FENCE_ALT_MAX: FENCE\_ALT\_MAX: Fence Maximum Altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum altitude allowed before geofence triggers\. See FENCE\_ALT\_MAX\_TP for reference frame\. +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 1 | 10 to 1000 | meters | +-----------+------------+--------+ .. _FENCE_RADIUS: FENCE\_RADIUS: Circular Fence Radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Circle fence radius which when breached will cause an RTL +-------------+--------+ | Range | Units | +=============+========+ | 30 to 10000 | meters | +-------------+--------+ .. _FENCE_MARGIN: FENCE\_MARGIN: Fence Margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance that autopilot\'s should maintain from the fence to avoid a breach +---------+--------+ | Range | Units | +=========+========+ | 1 to 10 | meters | +---------+--------+ .. _FENCE_TOTAL: FENCE\_TOTAL: Fence polygon point total ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of polygon points saved in eeprom \(do not update manually\) +---------+ | Range | +=========+ | 1 to 20 | +---------+ .. _FENCE_ALT_MIN: FENCE\_ALT\_MIN: Fence Minimum Altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum altitude allowed before geofence triggers\. See FENCE\_ALT\_MIN\_TP for reference frame\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 1 | -100 to 100 | meters | +-----------+-------------+--------+ .. _FENCE_RET_RALLY: FENCE\_RET\_RALLY: Fence Return to Rally ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Should the vehicle return to fence return point or rally point +-----------+--------+---------------------------------+ | Increment | Range | Values | +===========+========+=================================+ | 1 | 0 to 1 | +-------+---------------------+ | | | | | Value | Meaning | | | | | +=======+=====================+ | | | | | 0 | Fence Return Point | | | | | +-------+---------------------+ | | | | | 1 | Nearest Rally Point | | | | | +-------+---------------------+ | | | | | +-----------+--------+---------------------------------+ .. _FENCE_RET_ALT: FENCE\_RET\_ALT: Fence Return Altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Altitude the vehicle will transit to when a fence breach occurs +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 1 | 0 to 32767 | meters | +-----------+------------+--------+ .. _FENCE_AUTOENABLE: FENCE\_AUTOENABLE: Fence Auto\-Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auto\-enable of fences\. AutoEnableOnTakeoff enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings the fences will be disabled\. AutoEnableDisableFloorOnLanding enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings only the Minimum Altitude fence will be disabled\. AutoEnableOnlyWhenArmed enables all configured fences on arming\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, but no fences are disabled during autolandings\. However\, fence breaches are ignored while executing prior breach recovery actions which may include autolandings\. +-----------+--------+---------------------------------------------+ | Increment | Range | Values | +===========+========+=============================================+ | 1 | 0 to 3 | +-------+---------------------------------+ | | | | | Value | Meaning | | | | | +=======+=================================+ | | | | | 0 | AutoEnableOff | | | | | +-------+---------------------------------+ | | | | | 1 | AutoEnableOnTakeoff | | | | | +-------+---------------------------------+ | | | | | 2 | AutoEnableDisableFloorOnLanding | | | | | +-------+---------------------------------+ | | | | | 3 | AutoEnableOnlyWhenArmed | | | | | +-------+---------------------------------+ | | | | | +-----------+--------+---------------------------------------------+ .. _FENCE_OPTIONS: FENCE\_OPTIONS: Fence options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When bit 0 is set disable mode change following fence action until fence breach is cleared\. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection\, which means a fence breach occurs only if you are outside all of the fence areas\. +------------------------------------------------------------------------------------+ | Bitmask | +====================================================================================+ | +-----+--------------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+==========================================================================+ | | | 0 | Disable mode change following fence action until fence breach is cleared | | | +-----+--------------------------------------------------------------------------+ | | | 1 | Allow union of inclusion areas | | | +-----+--------------------------------------------------------------------------+ | | | 2 | Notify on margin breaches | | | +-----+--------------------------------------------------------------------------+ | | | +------------------------------------------------------------------------------------+ .. _FENCE_NTF_FREQ: FENCE\_NTF\_FREQ: Fence margin notification frequency in hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When bit 2 of FENCE\_OPTIONS is set this parameter controls the frequency of margin breach notifications\. If set to 0 only new margin breaches are notified\. +---------+-------+ | Range | Units | +=========+=======+ | 0 to 10 | hertz | +---------+-------+ .. _FENCE_MARGIN_XY: FENCE\_MARGIN\_XY: Fence Horizontal Margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance that autopilot\'s should maintain from the fence in the horizontal plane to avoid a breach\. If set to 0 then FENCE\_MARGIN is used\. +---------+--------+ | Range | Units | +=========+========+ | 0 to 50 | meters | +---------+--------+ .. _FENCE_ALT_MAX_TP: FENCE\_ALT\_MAX\_TP: Altitude max frame type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The altitude reference frame for the maximum altitude fence\. Can be AMSL\, home\-relative\, origin relative or AGL\. +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Above sea level | | | +-------+-----------------+ | | | 1 | Above Home | | | +-------+-----------------+ | | | 2 | Above Origin | | | +-------+-----------------+ | | | 3 | Above Terrain | | | +-------+-----------------+ | | | +-----------------------------+ .. _FENCE_ALT_MIN_TP: FENCE\_ALT\_MIN\_TP: Altitude min frame type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The altitude reference frame for the minimum altitude fence\. Can be AMSL\, home\-relative\, origin relative or AGL\. +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Above sea level | | | +-------+-----------------+ | | | 1 | Above Home | | | +-------+-----------------+ | | | 2 | Above Origin | | | +-------+-----------------+ | | | 3 | Above Terrain | | | +-------+-----------------+ | | | +-----------------------------+ .. _parameters_FFT_: FFT\_ Parameters ---------------- .. _FFT_ENABLE: FFT\_ENABLE: Enable ~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable Gyro FFT analyser +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _FFT_MINHZ: FFT\_MINHZ: Minimum Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Lower bound of FFT frequency detection in Hz\. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles\. +-----------+-------+ | Range | Units | +===========+=======+ | 20 to 400 | hertz | +-----------+-------+ .. _FFT_MAXHZ: FFT\_MAXHZ: Maximum Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Upper bound of FFT frequency detection in Hz\. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles\. +-----------+-------+ | Range | Units | +===========+=======+ | 20 to 495 | hertz | +-----------+-------+ .. _FFT_SAMPLE_MODE: FFT\_SAMPLE\_MODE: Sample Mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Sampling mode \(and therefore rate\)\. 0\: Gyro rate sampling\, 1\: Fast loop rate sampling\, 2\: Fast loop rate \/ 2 sampling\, 3\: Fast loop rate \/ 3 sampling\. Takes effect on reboot\. +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _FFT_WINDOW_SIZE: FFT\_WINDOW\_SIZE: FFT window size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Size of window to be used in FFT calculations\. Takes effect on reboot\. Must be a power of 2 and between 32 and 512\. Larger windows give greater frequency resolution but poorer time resolution\, consume more CPU time and may not be appropriate for all vehicles\. Time and frequency resolution are given by the sample\-rate \/ window\-size\. Windows of 256 are only really recommended for F7 class boards\, windows of 512 or more H7 class\. +------------+ | Range | +============+ | 32 to 1024 | +------------+ .. _FFT_WINDOW_OLAP: FFT\_WINDOW\_OLAP: FFT window overlap ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Percentage of window to be overlapped before another frame is process\. Takes effect on reboot\. A good default is 50\% overlap\. Higher overlap results in more processed frames but not necessarily more temporal resolution\. Lower overlap results in lost information at the frame edges\. +----------+ | Range | +==========+ | 0 to 0.9 | +----------+ .. _FFT_FREQ_HOVER: FFT\_FREQ\_HOVER: FFT learned hover frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The learned hover noise frequency +----------+ | Range | +==========+ | 0 to 250 | +----------+ .. _FFT_THR_REF: FFT\_THR\_REF: FFT learned thrust reference ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FFT learned thrust reference for the hover frequency and FFT minimum frequency\. +-------------+ | Range | +=============+ | 0.01 to 0.9 | +-------------+ .. _FFT_SNR_REF: FFT\_SNR\_REF: FFT SNR reference threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FFT SNR reference threshold in dB at which a signal is determined to be present\. +--------------+ | Range | +==============+ | 0.0 to 100.0 | +--------------+ .. _FFT_ATT_REF: FFT\_ATT\_REF: FFT attenuation for bandwidth calculation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FFT attenuation level in dB for bandwidth calculation and peak detection\. The bandwidth is calculated by comparing peak power output with the attenuated version\. The default of 15 has shown to be a good compromise in both simulations and real flight\. +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _FFT_BW_HOVER: FFT\_BW\_HOVER: FFT learned bandwidth at hover ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FFT learned bandwidth at hover for the attenuation frequencies\. +----------+ | Range | +==========+ | 0 to 200 | +----------+ .. _FFT_HMNC_FIT: FFT\_HMNC\_FIT: FFT harmonic fit frequency threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another\. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency\. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch\. A value of zero completely disables harmonic matching\. +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _FFT_HMNC_PEAK: FFT\_HMNC\_PEAK: FFT harmonic peak target ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The FFT harmonic peak target that should be returned by FTN1\.PkAvg\. The resulting value will be used by the harmonic notch if configured to track the FFT frequency\. By default the appropriate peak is auto\-detected based on the harmonic fit between peaks and the energy\-weighted average frequency on roll on pitch is used\. Setting this to 1 will always target the highest energy peak\. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak\. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak\. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 0 | Auto | | | +-------+--------------------------+ | | | 1 | Center Frequency | | | +-------+--------------------------+ | | | 2 | Lower-Shoulder Frequency | | | +-------+--------------------------+ | | | 3 | Upper-Shoulder Frequency | | | +-------+--------------------------+ | | | 4 | Roll-Axis | | | +-------+--------------------------+ | | | 5 | Pitch-Axis | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _FFT_NUM_FRAMES: FFT\_NUM\_FRAMES: FFT output frames to retain and average ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Number of output frequency frames to retain and average in order to calculate final frequencies\. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable\. The default is to perform no averaging\. For rapidly changing frequencies \(e\.g\. smaller aircraft\) fewer frames should be averaged\. +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _FFT_OPTIONS: FFT\_OPTIONS: FFT options ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* FFT configuration options\. Values\: 1\:Apply the FFT \*after\* the filter bank\,2\:Check noise at the motor frequencies using ESC data as a reference +----------------------------------+ | Bitmask | +==================================+ | +-----+------------------------+ | | | Bit | Meaning | | | +=====+========================+ | | | 0 | Enable post-filter FFT | | | +-----+------------------------+ | | | 1 | Check motor noise | | | +-----+------------------------+ | | | +----------------------------------+ .. _parameters_FILT1_: FILT1\_ Parameters ------------------ .. _FILT1_TYPE: FILT1\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disable | | | +-------+--------------+ | | | 1 | Notch Filter | | | +-------+--------------+ | | | +--------------------------+ .. _FILT1_NOTCH_FREQ: FILT1\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT1_NOTCH_Q: FILT1\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT1_NOTCH_ATT: FILT1\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT2_: FILT2\_ Parameters ------------------ .. _FILT2_TYPE: FILT2\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disable | | | +-------+--------------+ | | | 1 | Notch Filter | | | +-------+--------------+ | | | +--------------------------+ .. _FILT2_NOTCH_FREQ: FILT2\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT2_NOTCH_Q: FILT2\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT2_NOTCH_ATT: FILT2\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT3_: FILT3\_ Parameters ------------------ .. _FILT3_TYPE: FILT3\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disable | | | +-------+--------------+ | | | 1 | Notch Filter | | | +-------+--------------+ | | | +--------------------------+ .. _FILT3_NOTCH_FREQ: FILT3\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT3_NOTCH_Q: FILT3\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT3_NOTCH_ATT: FILT3\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT4_: FILT4\_ Parameters ------------------ .. _FILT4_TYPE: FILT4\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disable | | | +-------+--------------+ | | | 1 | Notch Filter | | | +-------+--------------+ | | | +--------------------------+ .. _FILT4_NOTCH_FREQ: FILT4\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT4_NOTCH_Q: FILT4\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT4_NOTCH_ATT: FILT4\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT5_: FILT5\_ Parameters ------------------ .. _FILT5_TYPE: FILT5\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disable | | | +-------+--------------+ | | | 1 | Notch Filter | | | +-------+--------------+ | | | +--------------------------+ .. _FILT5_NOTCH_FREQ: FILT5\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT5_NOTCH_Q: FILT5\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT5_NOTCH_ATT: FILT5\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT6_: FILT6\_ Parameters ------------------ .. _FILT6_TYPE: FILT6\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disable | | | +-------+--------------+ | | | 1 | Notch Filter | | | +-------+--------------+ | | | +--------------------------+ .. _FILT6_NOTCH_FREQ: FILT6\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT6_NOTCH_Q: FILT6\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT6_NOTCH_ATT: FILT6\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT7_: FILT7\_ Parameters ------------------ .. _FILT7_TYPE: FILT7\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disable | | | +-------+--------------+ | | | 1 | Notch Filter | | | +-------+--------------+ | | | +--------------------------+ .. _FILT7_NOTCH_FREQ: FILT7\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT7_NOTCH_Q: FILT7\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT7_NOTCH_ATT: FILT7\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FILT8_: FILT8\_ Parameters ------------------ .. _FILT8_TYPE: FILT8\_TYPE: Filter Type ~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Filter Type +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disable | | | +-------+--------------+ | | | 1 | Notch Filter | | | +-------+--------------+ | | | +--------------------------+ .. _FILT8_NOTCH_FREQ: FILT8\_NOTCH\_FREQ: Notch Filter center frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter center frequency in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 10 to 495 | hertz | +-----------+-------+ .. _FILT8_NOTCH_Q: FILT8\_NOTCH\_Q: Notch Filter quality factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _FILT8_NOTCH_ATT: FILT8\_NOTCH\_ATT: Notch Filter attenuation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Notch Filter attenuation in dB\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | decibel | +---------+---------+ .. _parameters_FLOW: FLOW Parameters --------------- .. _FLOW_TYPE: FLOW\_TYPE: Optical flow sensor type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Optical flow sensor type +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | None | | | +-------+----------+ | | | 1 | PX4Flow | | | +-------+----------+ | | | 2 | Pixart | | | +-------+----------+ | | | 3 | Bebop | | | +-------+----------+ | | | 4 | CXOF | | | +-------+----------+ | | | 5 | MAVLink | | | +-------+----------+ | | | 6 | DroneCAN | | | +-------+----------+ | | | 7 | MSP | | | +-------+----------+ | | | 8 | UPFLOW | | | +-------+----------+ | | | 10 | SITL | | | +-------+----------+ | | | +----------------------+ .. _FLOW_FXSCALER: FLOW\_FXSCALER: X axis optical flow scale factor correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 1 | -800 to +800 | +-----------+--------------+ .. _FLOW_FYSCALER: FLOW\_FYSCALER: Y axis optical flow scale factor correction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 1 | -800 to +800 | +-----------+--------------+ .. _FLOW_ORIENT_YAW: FLOW\_ORIENT\_YAW: Flow sensor yaw alignment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Specifies the number of centi\-degrees that the flow sensor is yawed relative to the vehicle\. A sensor with its X\-axis pointing to the right of the vehicle X axis has a positive yaw angle\. +-----------+------------------+--------------+ | Increment | Range | Units | +===========+==================+==============+ | 10 | -17999 to +18000 | centidegrees | +-----------+------------------+--------------+ .. _FLOW_POS_X: FLOW\_POS\_X: X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the optical flow sensor focal point in body frame\. Positive X is forward of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _FLOW_POS_Y: FLOW\_POS\_Y: Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the optical flow sensor focal point in body frame\. Positive Y is to the right of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _FLOW_POS_Z: FLOW\_POS\_Z: Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the optical flow sensor focal point in body frame\. Positive Z is down from the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _FLOW_ADDR: FLOW\_ADDR: Address on the bus ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is used to select between multiple possible I2C addresses for some sensor types\. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus\. +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _FLOW_OPTIONS: FLOW\_OPTIONS: Optical flow options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Optical flow options\. Bit 0 should be set if the sensor is stabilised \(e\.g\. mounted on a gimbal\) +---------------------------------+ | Bitmask | +=================================+ | +-----+-----------------------+ | | | Bit | Meaning | | | +=====+=======================+ | | | 0 | Roll/Pitch stabilised | | | +-----+-----------------------+ | | | +---------------------------------+ .. _parameters_FOLL: FOLL Parameters --------------- .. _FOLL_ENABLE: FOLL\_ENABLE: Follow enable\/disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enabled\/disable following a target +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _FOLL_SYSID: FOLL\_SYSID: Follow target\'s mavlink system id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow target\'s mavlink system id\. Zero means no target has been selected and following is inactive\. +-----------------+ | Range | +=================+ | 0 to 4294967295 | +-----------------+ .. _FOLL_DIST_MAX: FOLL\_DIST\_MAX: Follow distance maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow distance maximum\. If exceeded\, the follow estimate will be considered invalid\. If zero there is no maximum\. +-----------+--------+ | Range | Units | +===========+========+ | 0 to 1000 | meters | +-----------+--------+ .. _FOLL_OFS_TYPE: FOLL\_OFS\_TYPE: Follow offset type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow offset type +----------------------------------------------+ | Values | +==============================================+ | +-------+----------------------------------+ | | | Value | Meaning | | | +=======+==================================+ | | | 0 | North-East-Down | | | +-------+----------------------------------+ | | | 1 | Relative to lead vehicle heading | | | +-------+----------------------------------+ | | | +----------------------------------------------+ .. _FOLL_OFS_X: FOLL\_OFS\_X: Follow offsets in meters north\/forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow offsets in meters north\/forward\. If positive\, this vehicle fly ahead or north of lead vehicle\. Depends on FOLL\_OFS\_TYPE +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 1 | -100 to 100 | meters | +-----------+-------------+--------+ .. _FOLL_OFS_Y: FOLL\_OFS\_Y: Follow offsets in meters east\/right ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow offsets in meters east\/right\. If positive\, this vehicle will fly to the right or east of lead vehicle\. Depends on FOLL\_OFS\_TYPE +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 1 | -100 to 100 | meters | +-----------+-------------+--------+ .. _FOLL_OFS_Z: FOLL\_OFS\_Z: Follow offsets in meters down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow offsets in meters down\. If positive\, this vehicle will fly below the lead vehicle +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 1 | -100 to 100 | meters | +-----------+-------------+--------+ .. _FOLL_YAW_BEHAVE: FOLL\_YAW\_BEHAVE: Follow yaw behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow yaw behaviour +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | 0 | None | | | +-------+----------------------+ | | | 1 | Face Lead Vehicle | | | +-------+----------------------+ | | | 2 | Same as Lead vehicle | | | +-------+----------------------+ | | | 3 | Direction of Flight | | | +-------+----------------------+ | | | +----------------------------------+ .. _FOLL_POS_P: FOLL\_POS\_P: Follow position error P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow position error P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.01 | 0.01 to 1.00 | +-----------+--------------+ .. _FOLL_ALT_TYPE: FOLL\_ALT\_TYPE: Follow altitude type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow altitude type +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | absolute | | | +-------+----------+ | | | 1 | relative | | | +-------+----------+ | | | 3 | terrain | | | +-------+----------+ | | | +----------------------+ .. _FOLL_OPTIONS: FOLL\_OPTIONS: Follow options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow options bitmask +----------------------------------------------------+ | Bitmask | +====================================================+ | +-----+------------------------------------------+ | | | Bit | Meaning | | | +=====+==========================================+ | | | 0 | Mount follows lead vehicle on mode enter | | | +-----+------------------------------------------+ | | | +----------------------------------------------------+ .. _FOLL_ACCEL_NE: FOLL\_ACCEL\_NE: Acceleration limit for the horizontal kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Acceleration limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in velocity +---------+--------------------------+ | Range | Units | +=========+==========================+ | 0 to 10 | meters per square second | +---------+--------------------------+ .. _FOLL_JERK_NE: FOLL\_JERK\_NE: Jerk limit for the horizontal kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Jerk limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in acceleration +---------+-------------------------+ | Range | Units | +=========+=========================+ | 0 to 20 | meters per cubic second | +---------+-------------------------+ .. _FOLL_ACCEL_D: FOLL\_ACCEL\_D: Acceleration limit for the vertical kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Acceleration limit of the vertical kinematic path generation used to determine how quickly the estimate varies in velocity +---------+--------------------------+ | Range | Units | +=========+==========================+ | 0 to 10 | meters per square second | +---------+--------------------------+ .. _FOLL_JERK_D: FOLL\_JERK\_D: Jerk limit for the vertical kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Jerk limit of the vertical kinematic path generation used to determine how quickly the estimate varies in acceleration +---------+-------------------------+ | Range | Units | +=========+=========================+ | 0 to 20 | meters per cubic second | +---------+-------------------------+ .. _FOLL_ACCEL_H: FOLL\_ACCEL\_H: Angular acceleration limit for the heading kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Angular acceleration limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular velocity +----------+---------------------------+ | Range | Units | +==========+===========================+ | 0 to 720 | degrees per square second | +----------+---------------------------+ .. _FOLL_JERK_H: FOLL\_JERK\_H: Angular jerk limit for the heading kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Angular jerk limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular acceleration +-----------+-------------------------+ | Range | Units | +===========+=========================+ | 0 to 1440 | degrees per cube second | +-----------+-------------------------+ .. _FOLL_TIMEOUT: FOLL\_TIMEOUT: Follow timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Follow position update from lead \- timeout after x seconds +---------+ | Units | +=========+ | seconds | +---------+ .. _parameters_FRSKY_: FRSKY\_ Parameters ------------------ .. _FRSKY_UPLINK_ID: FRSKY\_UPLINK\_ID: Uplink sensor id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Change the uplink sensor id \(SPort only\) +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | -1 | Disable | | | +-------+---------+ | | | 7 | 7 | | | +-------+---------+ | | | 8 | 8 | | | +-------+---------+ | | | 9 | 9 | | | +-------+---------+ | | | 10 | 10 | | | +-------+---------+ | | | 11 | 11 | | | +-------+---------+ | | | 12 | 12 | | | +-------+---------+ | | | 13 | 13 | | | +-------+---------+ | | | 14 | 14 | | | +-------+---------+ | | | 15 | 15 | | | +-------+---------+ | | | 16 | 16 | | | +-------+---------+ | | | 17 | 17 | | | +-------+---------+ | | | 18 | 18 | | | +-------+---------+ | | | 19 | 19 | | | +-------+---------+ | | | 20 | 20 | | | +-------+---------+ | | | 21 | 21 | | | +-------+---------+ | | | 22 | 22 | | | +-------+---------+ | | | 23 | 23 | | | +-------+---------+ | | | 24 | 24 | | | +-------+---------+ | | | 25 | 25 | | | +-------+---------+ | | | 26 | 26 | | | +-------+---------+ | | | +---------------------+ .. _FRSKY_DNLINK1_ID: FRSKY\_DNLINK1\_ID: First downlink sensor id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Change the first extra downlink sensor id \(SPort only\) +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | -1 | Disable | | | +-------+---------+ | | | 7 | 7 | | | +-------+---------+ | | | 8 | 8 | | | +-------+---------+ | | | 9 | 9 | | | +-------+---------+ | | | 10 | 10 | | | +-------+---------+ | | | 11 | 11 | | | +-------+---------+ | | | 12 | 12 | | | +-------+---------+ | | | 13 | 13 | | | +-------+---------+ | | | 14 | 14 | | | +-------+---------+ | | | 15 | 15 | | | +-------+---------+ | | | 16 | 16 | | | +-------+---------+ | | | 17 | 17 | | | +-------+---------+ | | | 18 | 18 | | | +-------+---------+ | | | 19 | 19 | | | +-------+---------+ | | | 20 | 20 | | | +-------+---------+ | | | 21 | 21 | | | +-------+---------+ | | | 22 | 22 | | | +-------+---------+ | | | 23 | 23 | | | +-------+---------+ | | | 24 | 24 | | | +-------+---------+ | | | 25 | 25 | | | +-------+---------+ | | | 26 | 26 | | | +-------+---------+ | | | +---------------------+ .. _FRSKY_DNLINK2_ID: FRSKY\_DNLINK2\_ID: Second downlink sensor id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Change the second extra downlink sensor id \(SPort only\) +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | -1 | Disable | | | +-------+---------+ | | | 7 | 7 | | | +-------+---------+ | | | 8 | 8 | | | +-------+---------+ | | | 9 | 9 | | | +-------+---------+ | | | 10 | 10 | | | +-------+---------+ | | | 11 | 11 | | | +-------+---------+ | | | 12 | 12 | | | +-------+---------+ | | | 13 | 13 | | | +-------+---------+ | | | 14 | 14 | | | +-------+---------+ | | | 15 | 15 | | | +-------+---------+ | | | 16 | 16 | | | +-------+---------+ | | | 17 | 17 | | | +-------+---------+ | | | 18 | 18 | | | +-------+---------+ | | | 19 | 19 | | | +-------+---------+ | | | 20 | 20 | | | +-------+---------+ | | | 21 | 21 | | | +-------+---------+ | | | 22 | 22 | | | +-------+---------+ | | | 23 | 23 | | | +-------+---------+ | | | 24 | 24 | | | +-------+---------+ | | | 25 | 25 | | | +-------+---------+ | | | 26 | 26 | | | +-------+---------+ | | | +---------------------+ .. _FRSKY_DNLINK_ID: FRSKY\_DNLINK\_ID: Default downlink sensor id ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Change the default downlink sensor id \(SPort only\) +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | -1 | Disable | | | +-------+---------+ | | | 7 | 7 | | | +-------+---------+ | | | 8 | 8 | | | +-------+---------+ | | | 9 | 9 | | | +-------+---------+ | | | 10 | 10 | | | +-------+---------+ | | | 11 | 11 | | | +-------+---------+ | | | 12 | 12 | | | +-------+---------+ | | | 13 | 13 | | | +-------+---------+ | | | 14 | 14 | | | +-------+---------+ | | | 15 | 15 | | | +-------+---------+ | | | 16 | 16 | | | +-------+---------+ | | | 17 | 17 | | | +-------+---------+ | | | 18 | 18 | | | +-------+---------+ | | | 19 | 19 | | | +-------+---------+ | | | 20 | 20 | | | +-------+---------+ | | | 21 | 21 | | | +-------+---------+ | | | 22 | 22 | | | +-------+---------+ | | | 23 | 23 | | | +-------+---------+ | | | 24 | 24 | | | +-------+---------+ | | | 25 | 25 | | | +-------+---------+ | | | 26 | 26 | | | +-------+---------+ | | | 27 | 27 | | | +-------+---------+ | | | +---------------------+ .. _FRSKY_OPTIONS: FRSKY\_OPTIONS: FRSky Telemetry Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ A bitmask to set some FRSky Telemetry specific options +----------------------------------------+ | Bitmask | +========================================+ | +-----+------------------------------+ | | | Bit | Meaning | | | +=====+==============================+ | | | 0 | EnableAirspeedAndGroundspeed | | | +-----+------------------------------+ | | | +----------------------------------------+ .. _parameters_GEN_: GEN\_ Parameters ---------------- .. _GEN_TYPE: GEN\_TYPE: Generator type ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Generator type +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | Value | Meaning | | | +=======+========================+ | | | 0 | Disabled | | | +-------+------------------------+ | | | 1 | IE 650w 800w Fuel Cell | | | +-------+------------------------+ | | | 2 | IE 2.4kW Fuel Cell | | | +-------+------------------------+ | | | 3 | Richenpower | | | +-------+------------------------+ | | | 4 | Loweheiser | | | +-------+------------------------+ | | | 5 | CORTEX | | | +-------+------------------------+ | | | +------------------------------------+ .. _GEN_OPTIONS: GEN\_OPTIONS: Generator Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask of options for generators +--------------------------------------------------+ | Bitmask | +==================================================+ | +-----+----------------------------------------+ | | | Bit | Meaning | | | +=====+========================================+ | | | 0 | Suppress Maintenance-Required Warnings | | | +-----+----------------------------------------+ | | | +--------------------------------------------------+ .. _parameters_GEN_L_: GEN\_L\_ Parameters ------------------- .. _GEN_L_MNT_TIME: GEN\_L\_MNT\_TIME: Seconds until maintenance required ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Seconds until maintenance required .. _GEN_L_RUNTIME: GEN\_L\_RUNTIME: Total runtime ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Total time this generator has run in seconds .. _GEN_L_IDLE_TH_H: GEN\_L\_IDLE\_TH\_H: High Idle throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* throttle value to use when warming up or cooling down .. _GEN_L_IDLE_TH: GEN\_L\_IDLE\_TH: Idle throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* throttle value to use when idling .. _GEN_L_RUN_TEMP: GEN\_L\_RUN\_TEMP: Run Temperature ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* temperature required for generator to start producing power in deg celsius .. _GEN_L_IDLE_TEMP: GEN\_L\_IDLE\_TEMP: Idle Temperature ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* temperature required for generator to return to idle after having run .. _GEN_L_OVER_TEMP: GEN\_L\_OVER\_TEMP: Cylinder Head Over Temperature Warning Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* threshold temperature for the cylinder head above which the mavlink over temperature message gets sent +-----------------+ | Units | +=================+ | degrees Celsius | +-----------------+ .. _parameters_GPS: GPS Parameters -------------- .. _GPS_NAVFILTER: GPS\_NAVFILTER: Navigation filter setting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Navigation filter engine setting +------------------------+ | 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_GRIP_: GRIP\_ Parameters ----------------- .. _GRIP_ENABLE: GRIP\_ENABLE: Gripper Enable\/Disable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Gripper enable\/disable +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _GRIP_TYPE: GRIP\_TYPE: Gripper Type ~~~~~~~~~~~~~~~~~~~~~~~~ Gripper enable\/disable +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | None | | | +-------+---------+ | | | 1 | Servo | | | +-------+---------+ | | | 2 | EPM | | | +-------+---------+ | | | +---------------------+ .. _GRIP_GRAB: GRIP\_GRAB: Gripper Grab PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM value in microseconds sent to Gripper to initiate grabbing the cargo +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _GRIP_RELEASE: GRIP\_RELEASE: Gripper Release PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM value in microseconds sent to Gripper to release the cargo +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _GRIP_NEUTRAL: GRIP\_NEUTRAL: Neutral PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM value in microseconds sent to grabber when not grabbing or releasing +--------------+---------------------+ | Range | Units | +==============+=====================+ | 1000 to 2000 | PWM in microseconds | +--------------+---------------------+ .. _GRIP_REGRAB: GRIP\_REGRAB: EPM Gripper Regrab interval ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened\; 0 to disable +----------+---------+ | Range | Units | +==========+=========+ | 0 to 255 | seconds | +----------+---------+ .. _GRIP_CAN_ID: GRIP\_CAN\_ID: EPM UAVCAN Hardpoint ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Refer to https\:\/\/docs\.zubax\.com\/opengrab\_epm\_v3\#UAVCAN\_interface +----------+ | Range | +==========+ | 0 to 255 | +----------+ .. _GRIP_AUTOCLOSE: GRIP\_AUTOCLOSE: Gripper Autoclose time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time in seconds that gripper close the gripper after opening\; 0 to disable +-------------+---------+ | Range | Units | +=============+=========+ | 0.25 to 255 | seconds | +-------------+---------+ .. _parameters_GUIDED_: GUIDED\_ Parameters ------------------- .. _GUIDED_P: GUIDED\_P: PID Proportional Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ P Gain which produces an output value that is proportional to the current error value .. _GUIDED_I: GUIDED\_I: PID Integral Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ I Gain which produces an output that is proportional to both the magnitude and the duration of the error .. _GUIDED_D: GUIDED\_D: PID Derivative Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ D Gain which produces an output that is proportional to the rate of change of the error .. _GUIDED_FF: GUIDED\_FF: FF FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ FF Gain which produces an output value that is proportional to the demanded input .. _GUIDED_IMAX: GUIDED\_IMAX: PID Integral Maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum\/minimum value that the I term can output .. _GUIDED_FLTT: GUIDED\_FLTT: PID Target filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Low\-pass filter frequency applied to the target input \(Hz\) +-------+ | Units | +=======+ | hertz | +-------+ .. _GUIDED_FLTE: GUIDED\_FLTE: PID Error filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Low\-pass filter frequency applied to the error \(Hz\) +-------+ | Units | +=======+ | hertz | +-------+ .. _GUIDED_FLTD: GUIDED\_FLTD: PID Derivative term filter frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Low\-pass filter frequency applied to the derivative \(Hz\) +-------+ | Units | +=======+ | hertz | +-------+ .. _GUIDED_SMAX: GUIDED\_SMAX: Slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _GUIDED_PDMX: GUIDED\_PDMX: PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum\/minimum value that the sum of the P and D term can output .. _GUIDED_D_FF: GUIDED\_D\_FF: PID Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.0001 | 0 to 0.02 | +-----------+-----------+ .. _GUIDED_NTF: GUIDED\_NTF: PID Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PID Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _GUIDED_NEF: GUIDED\_NEF: PID Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PID Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _parameters_ICE_: ICE\_ Parameters ---------------- .. _ICE_ENABLE: ICE\_ENABLE: Enable ICEngine control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables internal combustion engine control +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _ICE_STARTER_TIME: ICE\_STARTER\_TIME: Time to run starter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the number of seconds to run the starter when trying to start the engine +----------+---------+ | Range | Units | +==========+=========+ | 0.1 to 5 | seconds | +----------+---------+ .. _ICE_START_DELAY: ICE\_START\_DELAY: Time to wait between starts ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Delay between start attempts +---------+---------+ | Range | Units | +=========+=========+ | 1 to 10 | seconds | +---------+---------+ .. _ICE_RPM_THRESH: ICE\_RPM\_THRESH: RPM threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the measured RPM above which the engine is considered to be running +---------------+ | Range | +===============+ | 100 to 100000 | +---------------+ .. _ICE_RPM_CHAN: ICE\_RPM\_CHAN: RPM instance channel to use ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is which of the RPM instances to use for detecting the RPM of the engine +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | None | | | +-------+---------+ | | | 1 | RPM1 | | | +-------+---------+ | | | 2 | RPM2 | | | +-------+---------+ | | | +---------------------+ .. _ICE_START_PCT: ICE\_START\_PCT: Throttle percentage for engine start ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the percentage throttle output for engine start +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _ICE_IDLE_PCT: ICE\_IDLE\_PCT: Throttle percentage for engine idle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the minimum percentage throttle output while running\, this includes being disarmed\, but not safe +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _ICE_IDLE_RPM: ICE\_IDLE\_RPM: RPM Setpoint for Idle Governor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This configures the RPM that will be commanded by the idle governor\. Set to \-1 to disable .. _ICE_IDLE_DB: ICE\_IDLE\_DB: Deadband for Idle Governor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This configures the deadband that is tolerated before adjusting the idle setpoint .. _ICE_IDLE_SLEW: ICE\_IDLE\_SLEW: Slew Rate for idle control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This configures the slewrate used to adjust the idle setpoint in percentage points per second .. _ICE_OPTIONS: ICE\_OPTIONS: ICE options ~~~~~~~~~~~~~~~~~~~~~~~~~ Options for ICE control\. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R\/C failsafe\. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode\. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO\_ENGINE\_CONTROL command\. +---------------------------------------------------------------------+ | Bitmask | +=====================================================================+ | +-----+-----------------------------------------------------------+ | | | Bit | Meaning | | | +=====+===========================================================+ | | | 0 | Disable ignition in RC failsafe | | | +-----+-----------------------------------------------------------+ | | | 1 | Disable redline governor | | | +-----+-----------------------------------------------------------+ | | | 2 | Throttle control in MANUAL while disarmed with safety off | | | +-----+-----------------------------------------------------------+ | | | 3 | Disable while disarmed | | | +-----+-----------------------------------------------------------+ | | | 4 | Crank direction Reverse | | | +-----+-----------------------------------------------------------+ | | | +---------------------------------------------------------------------+ .. _ICE_STARTCHN_MIN: ICE\_STARTCHN\_MIN: Input channel for engine start minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is a minimum PWM value for engine start channel for an engine stop to be commanded\. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop\. A value of zero means any PWM above 800 and below 1300 triggers an engine stop\. To stop the engine start channel must above the larger of this value and 800 and below 1300\. +-----------+ | Range | +===========+ | 0 to 1300 | +-----------+ .. _ICE_REDLINE_RPM: ICE\_REDLINE\_RPM: RPM of the redline limit for the engine ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum RPM for the engine provided by the manufacturer\. A value of 0 disables this feature\. See ICE\_OPTIONS to enable or disable the governor\. +--------------+------------------------+ | Range | Units | +==============+========================+ | 0 to 2000000 | Revolutions Per Minute | +--------------+------------------------+ .. _ICE_STRT_MX_RTRY: ICE\_STRT\_MX\_RTRY: Maximum number of retries ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If set 0 then there is no limit to retrials\. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up\. +----------+ | Range | +==========+ | 0 to 127 | +----------+ .. _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_LAND_: LAND\_ Parameters ----------------- .. _LAND_SLOPE_RCALC: LAND\_SLOPE\_RCALC: Landing slope re\-calc threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter is used when using a rangefinder during landing for altitude correction from baro drift \(RNGFND\_LANDING\=1\) and the altitude correction indicates your altitude is lower than the intended slope path\. This value is the threshold of the correction to re\-calculate the landing approach slope\. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching\/throttling up to snap back to resume the original slope path\. Otherwise\, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re\-calculate to give a shallower slope\. This also smoothes out the approach when flying over objects such as trees\. Recommend a value of 2m\. +-----------+--------+--------+ | Increment | Range | Units | +===========+========+========+ | 0.5 | 0 to 5 | meters | +-----------+--------+--------+ .. _LAND_ABORT_DEG: LAND\_ABORT\_DEG: Landing auto\-abort slope threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter is used when using a rangefinder during landing for altitude correction from baro drift \(RNGFND\_LANDING\=1\) and the altitude correction indicates your actual altitude is higher than the intended slope path\. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self\-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope\. An auto\-abort go\-around will only happen once\, next attempt will not auto\-abort again\. This operation happens entirely automatically in AUTO mode\. This value is the delta degrees threshold to trigger the go\-around compared to the original slope\. Example\: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go\-around\. Set to 0 to disable\. Requires LAND\_SLOPE\_RCALC \> 0\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.1 | 0 to 90 | degrees | +-----------+---------+---------+ .. _LAND_PITCH_DEG: LAND\_PITCH\_DEG: Landing Pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used in autoland to give the minimum pitch in the final stage of landing \(after the flare\)\. This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft\. Note that it is a minimum pitch only \- the landing code will control pitch above this value to try to achieve the configured landing sink rate\. +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 10 | -20 to 20 | degrees | +-----------+-----------+---------+ .. _LAND_FLARE_ALT: LAND\_FLARE\_ALT: Landing flare altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Altitude in autoland at which to lock heading and flare to the LAND\_PITCH\_DEG pitch\. Note that this option is secondary to LAND\_FLARE\_SEC\. For a good landing it preferable that the flare is triggered by LAND\_FLARE\_SEC\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.1 | 0 to 30 | meters | +-----------+---------+--------+ .. _LAND_FLARE_SEC: LAND\_FLARE\_SEC: Landing flare time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Vertical time before landing point at which to lock heading and flare with the motor stopped\. This is vertical time\, and is calculated based solely on the current height above the ground and the current descent rate\. Set to 0 if you only wish to flare based on altitude \(see LAND\_FLARE\_ALT\)\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.1 | 0 to 10 | seconds | +-----------+---------+---------+ .. _LAND_PF_ALT: LAND\_PF\_ALT: Landing pre\-flare altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Altitude to trigger pre\-flare flight stage where LAND\_PF\_ARSPD controls airspeed\. The pre\-flare flight stage trigger works just like LAND\_FLARE\_ALT but higher\. Disabled when LAND\_PF\_ARSPD is 0\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.1 | 0 to 30 | meters | +-----------+---------+--------+ .. _LAND_PF_SEC: LAND\_PF\_SEC: Landing pre\-flare time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Vertical time to ground to trigger pre\-flare flight stage where LAND\_PF\_ARSPD controls airspeed\. This pre\-flare flight stage trigger works just like LAND\_FLARE\_SEC but earlier\. Disabled when LAND\_PF\_ARSPD is 0\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.1 | 0 to 10 | seconds | +-----------+---------+---------+ .. _LAND_PF_ARSPD: LAND\_PF\_ARSPD: Landing pre\-flare airspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired airspeed during pre\-flare flight stage\. This is useful to reduce airspeed just before the flare\. Use 0 to disable\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 0.1 | 0 to 30 | meters per second | +-----------+---------+-------------------+ .. _LAND_THR_SLEW: LAND\_THR\_SLEW: Landing throttle slew rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the slew rate for the throttle during auto landing\. When this is zero the THR\_SLEWRATE parameter is used during landing\. The value is a percentage throttle change per second\, so a value of 20 means to advance the throttle over 5 seconds on landing\. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough\. +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 500 | percent per second | +-----------+----------+--------------------+ .. _LAND_DISARMDELAY: LAND\_DISARMDELAY: Landing disarm delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* After a landing has completed using a LAND waypoint\, automatically disarm after this many seconds have passed\. Use 0 to not disarm\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 127 | seconds | +-----------+----------+---------+ .. _LAND_THEN_NEUTRL: LAND\_THEN\_NEUTRL: Set servos to neutral after landing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When enabled\, after an autoland and auto\-disarm via LAND\_DISARMDELAY happens then set all servos to neutral\. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain\. +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | Value | Meaning | | | +=======+====================+ | | | 0 | Disabled | | | +-------+--------------------+ | | | 1 | Servos to Neutral | | | +-------+--------------------+ | | | 2 | Servos to Zero PWM | | | +-------+--------------------+ | | | +--------------------------------+ .. _LAND_ABORT_THR: LAND\_ABORT\_THR: Landing abort using throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Allow a landing abort to trigger with an input throttle \>\= 90\%\. This works with or without stick\-mixing enabled\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _LAND_FLAP_PERCNT: LAND\_FLAP\_PERCNT: Landing flap percentage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The amount of flaps \(as a percentage\) to apply in the landing approach and flare of an automatic landing +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _LAND_OPTIONS: LAND\_OPTIONS: Landing options bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of options to use with landing\. +--------------------------------------------------------------------------------------------+ | Bitmask | +============================================================================================+ | +-----+----------------------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+==================================================================================+ | | | 0 | honor min throttle during landing flare | | | +-----+----------------------------------------------------------------------------------+ | | | 1 | Increase Target landing airspeed constraint From AIRSPEED_CRUISE to AIRSPEED_MAX | | | +-----+----------------------------------------------------------------------------------+ | | | +--------------------------------------------------------------------------------------------+ .. _LAND_FLARE_AIM: LAND\_FLARE\_AIM: Flare aim point adjustment percentage\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter controls how much the aim point is moved to allow for the time spent in the flare manoeuvre\. When set to 100\% the aim point is adjusted on the assumption that the flare sink rate controller instantly achieves the sink rate set by TECS\_LAND\_SINK\. when set to 0\%\, no aim point adjustment is made\. If the plane consistently touches down short of the aim point reduce the parameter and vice verse\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _LAND_WIND_COMP: LAND\_WIND\_COMP: Headwind Compensation when Landing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This param controls how much headwind compensation is used when landing\. Headwind speed component multiplied by this parameter is added to TECS\_LAND\_ARSPD command\. Set to Zero to disable\. Note\: The target landing airspeed command is still limited to AIRSPEED\_MAX\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 0 to 100 | percent | +-----------+----------+---------+ .. _LAND_TYPE: LAND\_TYPE: Auto\-landing type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Specifies the auto\-landing type to use +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | 0 | Standard Glide Slope | | | +-------+----------------------+ | | | 1 | Deepstall | | | +-------+----------------------+ | | | +----------------------------------+ .. _parameters_LAND_DS_: LAND\_DS\_ Parameters --------------------- .. _LAND_DS_V_FWD: LAND\_DS\_V\_FWD: Deepstall forward velocity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The forward velocity of the aircraft while stalled +---------+-------------------+ | Range | Units | +=========+===================+ | 0 to 20 | meters per second | +---------+-------------------+ .. _LAND_DS_SLOPE_A: LAND\_DS\_SLOPE\_A: Deepstall slope a ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The a component of distance \= a\*wind \+ b .. _LAND_DS_SLOPE_B: LAND\_DS\_SLOPE\_B: Deepstall slope b ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The a component of distance \= a\*wind \+ b .. _LAND_DS_APP_EXT: LAND\_DS\_APP\_EXT: Deepstall approach extension ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The horizontal distance from which the aircraft will approach before the stall +-----------+--------+ | Range | Units | +===========+========+ | 10 to 200 | meters | +-----------+--------+ .. _LAND_DS_V_DWN: LAND\_DS\_V\_DWN: Deepstall velocity down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The downward velocity of the aircraft while stalled +---------+-------------------+ | Range | Units | +=========+===================+ | 0 to 20 | meters per second | +---------+-------------------+ .. _LAND_DS_SLEW_SPD: LAND\_DS\_SLEW\_SPD: Deepstall slew speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The speed at which the elevator slews to deepstall +--------+---------+ | Range | Units | +========+=========+ | 0 to 2 | seconds | +--------+---------+ .. _LAND_DS_ELEV_PWM: LAND\_DS\_ELEV\_PWM: Deepstall elevator PWM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The PWM value in microseconds for the elevator at full deflection in deepstall +-------------+---------------------+ | Range | Units | +=============+=====================+ | 900 to 2100 | PWM in microseconds | +-------------+---------------------+ .. _LAND_DS_ARSP_MAX: LAND\_DS\_ARSP\_MAX: Deepstall enabled airspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum aispeed where the deepstall steering controller is allowed to have control +---------+-------------------+ | Range | Units | +=========+===================+ | 5 to 20 | meters per second | +---------+-------------------+ .. _LAND_DS_ARSP_MIN: LAND\_DS\_ARSP\_MIN: Deepstall minimum derating airspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Deepstall lowest airspeed where the deepstall controller isn\'t allowed full control +---------+-------------------+ | Range | Units | +=========+===================+ | 5 to 20 | meters per second | +---------+-------------------+ .. _LAND_DS_L1: LAND\_DS\_L1: Deepstall L1 period ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Deepstall L1 navigational controller period +---------+---------+ | Range | Units | +=========+=========+ | 5 to 50 | seconds | +---------+---------+ .. _LAND_DS_L1_I: LAND\_DS\_L1\_I: Deepstall L1 I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Deepstall L1 integratior gain +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _LAND_DS_YAW_LIM: LAND\_DS\_YAW\_LIM: Deepstall yaw rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The yaw rate limit while navigating in deepstall +---------+--------------------+ | Range | Units | +=========+====================+ | 0 to 90 | degrees per second | +---------+--------------------+ .. _LAND_DS_L1_TCON: LAND\_DS\_L1\_TCON: Deepstall L1 time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time constant for deepstall L1 control +--------+---------+ | Range | Units | +========+=========+ | 0 to 1 | seconds | +--------+---------+ .. _LAND_DS_P: LAND\_DS\_P: P gain ~~~~~~~~~~~~~~~~~~~ P gain .. _LAND_DS_I: LAND\_DS\_I: I gain ~~~~~~~~~~~~~~~~~~~ I gain .. _LAND_DS_D: LAND\_DS\_D: D gain ~~~~~~~~~~~~~~~~~~~ D gain .. _LAND_DS_IMAX: LAND\_DS\_IMAX: IMax ~~~~~~~~~~~~~~~~~~~~ Maximum integrator value .. _LAND_DS_ABORTALT: LAND\_DS\_ABORTALT: Deepstall minimum abort altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The minimum altitude which the aircraft must be above to abort a deepstall landing +---------+--------+ | Range | Units | +=========+========+ | 0 to 50 | meters | +---------+--------+ .. _LAND_DS_AIL_SCL: LAND\_DS\_AIL\_SCL: Aileron landing gain scalaing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* A scalar to reduce or increase the aileron control +----------+ | Range | +==========+ | 0 to 2.0 | +----------+ .. _parameters_LGR_: LGR\_ Parameters ---------------- .. _LGR_ENABLE: LGR\_ENABLE: Enable landing gear ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable landing gear control +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _LGR_STARTUP: LGR\_STARTUP: Landing Gear Startup position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Landing Gear Startup behaviour control +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | WaitForPilotInput | | | +-------+-------------------+ | | | 1 | Retract | | | +-------+-------------------+ | | | 2 | Deploy | | | +-------+-------------------+ | | | +-------------------------------+ .. _LGR_DEPLOY_PIN: LGR\_DEPLOY\_PIN: Chassis deployment feedback pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Pin number to use for detection of gear deployment\. If set to \-1 feedback is disabled\. 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 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _LGR_DEPLOY_POL: LGR\_DEPLOY\_POL: Chassis deployment feedback pin polarity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Polarity for feedback pin\. If this is 1 then the pin should be high when gear are deployed\. If set to 0 then then deployed gear level is low\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Low | | | +-------+---------+ | | | 1 | High | | | +-------+---------+ | | | +---------------------+ .. _LGR_WOW_PIN: LGR\_WOW\_PIN: Weight on wheels feedback pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Pin number to use for feedback of weight on wheels condition\. If set to \-1 feedback is disabled\. 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 | | | | +-------+----------+ | | | | +-----------+----------------------+ .. _LGR_WOW_POL: LGR\_WOW\_POL: Weight on wheels feedback pin polarity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Polarity for feedback pin\. If this is 1 then the pin should be high when there is weight on wheels\. If set to 0 then then weight on wheels level is low\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Low | | | +-------+---------+ | | | 1 | High | | | +-------+---------+ | | | +---------------------+ .. _LGR_DEPLOY_ALT: LGR\_DEPLOY\_ALT: Landing gear deployment altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Altitude where the landing gear will be deployed\. This should be lower than the RETRACT\_ALT\. If zero then altitude is not used for deploying landing gear\. Only applies when vehicle is armed\. +-----------+-----------+--------+ | Increment | Range | Units | +===========+===========+========+ | 1 | 0 to 1000 | meters | +-----------+-----------+--------+ .. _LGR_RETRACT_ALT: LGR\_RETRACT\_ALT: Landing gear retract altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Altitude where the landing gear will be retracted\. This should be higher than the DEPLOY\_ALT\. If zero then altitude is not used for retracting landing gear\. Only applies when vehicle is armed\. +-----------+-----------+--------+ | Increment | Range | Units | +===========+===========+========+ | 1 | 0 to 1000 | meters | +-----------+-----------+--------+ .. _LGR_OPTIONS: LGR\_OPTIONS: Landing gear auto retract\/deploy options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options to retract or deploy landing gear in Auto\, Takeoff and Autoland modes +---------------------------------+ | Bitmask | +=================================+ | +-----+-----------------------+ | | | Bit | Meaning | | | +=====+=======================+ | | | 0 | Retract after Takeoff | | | +-----+-----------------------+ | | | 1 | Deploy during Land | | | +-----+-----------------------+ | | | +---------------------------------+ .. _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_MIS_: MIS\_ Parameters ---------------- .. _MIS_TOTAL: MIS\_TOTAL: Total mission commands ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The number of mission mission items that has been loaded by the ground station\. Do not change this manually\. +-----------+------------+----------+ | Increment | Range | ReadOnly | +===========+============+==========+ | 1 | 0 to 32766 | True | +-----------+------------+----------+ .. _MIS_RESTART: MIS\_RESTART: Mission Restart when entering Auto mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls mission starting point when entering Auto mode \(either restart from beginning of mission or resume from last command run\) +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | Resume Mission | | | +-------+-----------------+ | | | 1 | Restart Mission | | | +-------+-----------------+ | | | +-----------------------------+ .. _MIS_OPTIONS: MIS\_OPTIONS: Mission options bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of what options to use in missions\. If the DontZeroCounter counter option is set than on completion of a jump loop the counter is left at zero\, so the jump will not happen again if the loop is re\-entered\. +---------------------------------------------------------+ | Bitmask | +=========================================================+ | +-----+-----------------------------------------------+ | | | Bit | Meaning | | | +=====+===============================================+ | | | 0 | Clear Mission on reboot | | | +-----+-----------------------------------------------+ | | | 1 | Use distance to land calc on battery failsafe | | | +-----+-----------------------------------------------+ | | | 2 | ContinueAfterLand | | | +-----+-----------------------------------------------+ | | | 3 | DontZeroCounter | | | +-----+-----------------------------------------------+ | | | +---------------------------------------------------------+ .. _parameters_MNT1: MNT1 Parameters --------------- .. _MNT1_TYPE: MNT1\_TYPE: Mount Type ~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Mount Type +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | 0 | None | | | +-------+----------------------+ | | | 1 | Servo | | | +-------+----------------------+ | | | 2 | 3DR Solo | | | +-------+----------------------+ | | | 3 | Alexmos Serial | | | +-------+----------------------+ | | | 4 | SToRM32 MAVLink | | | +-------+----------------------+ | | | 5 | SToRM32 Serial | | | +-------+----------------------+ | | | 6 | MAVLink (Gremsy/AVT) | | | +-------+----------------------+ | | | 7 | BrushlessPWM | | | +-------+----------------------+ | | | 8 | Siyi | | | +-------+----------------------+ | | | 9 | Scripting | | | +-------+----------------------+ | | | 10 | Xacti | | | +-------+----------------------+ | | | 11 | Viewpro | | | +-------+----------------------+ | | | 12 | Topotek | | | +-------+----------------------+ | | | 13 | CADDX | | | +-------+----------------------+ | | | 14 | XFRobot | | | +-------+----------------------+ | | | +----------------------------------+ .. _MNT1_DEFLT_MODE: MNT1\_DEFLT\_MODE: Mount default operating mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount default operating mode on startup and after control is returned from autopilot +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Retracted | | | +-------+-------------------+ | | | 1 | Neutral | | | +-------+-------------------+ | | | 2 | MavLink Targeting | | | +-------+-------------------+ | | | 3 | RC Targeting | | | +-------+-------------------+ | | | 4 | GPS Point | | | +-------+-------------------+ | | | 5 | SysID Target | | | +-------+-------------------+ | | | 6 | Home Location | | | +-------+-------------------+ | | | +-------------------------------+ .. _MNT1_RC_RATE: MNT1\_RC\_RATE: Mount RC Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pilot rate control\'s maximum rate\. Set to zero to use angle control +-----------+---------+--------------------+ | Increment | Range | Units | +===========+=========+====================+ | 1 | 0 to 90 | degrees per second | +-----------+---------+--------------------+ .. _MNT1_ROLL_MIN: MNT1\_ROLL\_MIN: Mount Roll angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Roll angle minimum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT1_ROLL_MAX: MNT1\_ROLL\_MAX: Mount Roll angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Roll angle maximum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT1_PITCH_MIN: MNT1\_PITCH\_MIN: Mount Pitch angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Pitch angle minimum +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 1 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _MNT1_PITCH_MAX: MNT1\_PITCH\_MAX: Mount Pitch angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Pitch angle maximum +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 1 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _MNT1_YAW_MIN: MNT1\_YAW\_MIN: Mount Yaw angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Yaw angle minimum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT1_YAW_MAX: MNT1\_YAW\_MAX: Mount Yaw angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Yaw angle maximum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT1_RETRACT_X: MNT1\_RETRACT\_X: Mount roll angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount roll angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_RETRACT_Y: MNT1\_RETRACT\_Y: Mount pitch angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount pitch angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_RETRACT_Z: MNT1\_RETRACT\_Z: Mount yaw angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount yaw angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_NEUTRAL_X: MNT1\_NEUTRAL\_X: Mount roll angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount roll angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_NEUTRAL_Y: MNT1\_NEUTRAL\_Y: Mount pitch angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount pitch angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_NEUTRAL_Z: MNT1\_NEUTRAL\_Z: Mount yaw angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount yaw angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT1_LEAD_RLL: MNT1\_LEAD\_RLL: Mount Roll stabilization lead time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.005 | 0.0 to 0.2 | seconds | +-----------+------------+---------+ .. _MNT1_LEAD_PTCH: MNT1\_LEAD\_PTCH: Mount Pitch stabilization lead time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.005 | 0.0 to 0.2 | seconds | +-----------+------------+---------+ .. _MNT1_SYSID_DFLT: MNT1\_SYSID\_DFLT: Mount Target sysID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Default Target sysID for the mount to point to\. +-----------------+ | Range | +=================+ | 0 to 4294967295 | +-----------------+ .. _MNT1_DEVID: MNT1\_DEVID: Mount Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mount device ID\, taking into account its type\, bus and instance .. _MNT1_OPTIONS: MNT1\_OPTIONS: Mount options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount options bitmask\, note bit 2 only impacts RC targetting mode +---------------------------------------------------+ | Bitmask | +===================================================+ | +-----+-----------------------------------------+ | | | Bit | Meaning | | | +=====+=========================================+ | | | 0 | RC lock state from previous mode | | | +-----+-----------------------------------------+ | | | 1 | Return to neutral angles on RC failsafe | | | +-----+-----------------------------------------+ | | | 2 | Force FPV (bf) lock on roll and pitch | | | +-----+-----------------------------------------+ | | | +---------------------------------------------------+ .. _MNT1_ATT_RATE: MNT1\_ATT\_RATE: Vehicle attitude send rate to MAVLink gimbal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Rate at which AUTOPILOT\_STATE\_FOR\_GIMBAL\_DEVICE messages are sent to a MAVLink gimbal\. Zero disables these messages +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MNT1_TARG_RATE: MNT1\_TARG\_RATE: MAVLink gimbal target refresh rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Refresh rate for unchanged MAVLink gimbal targets\. Changed targets are sent immediately\. Zero disables target transmission +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _parameters_MNT2: MNT2 Parameters --------------- .. _MNT2_TYPE: MNT2\_TYPE: Mount Type ~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Mount Type +----------------------------------+ | Values | +==================================+ | +-------+----------------------+ | | | Value | Meaning | | | +=======+======================+ | | | 0 | None | | | +-------+----------------------+ | | | 1 | Servo | | | +-------+----------------------+ | | | 2 | 3DR Solo | | | +-------+----------------------+ | | | 3 | Alexmos Serial | | | +-------+----------------------+ | | | 4 | SToRM32 MAVLink | | | +-------+----------------------+ | | | 5 | SToRM32 Serial | | | +-------+----------------------+ | | | 6 | MAVLink (Gremsy/AVT) | | | +-------+----------------------+ | | | 7 | BrushlessPWM | | | +-------+----------------------+ | | | 8 | Siyi | | | +-------+----------------------+ | | | 9 | Scripting | | | +-------+----------------------+ | | | 10 | Xacti | | | +-------+----------------------+ | | | 11 | Viewpro | | | +-------+----------------------+ | | | 12 | Topotek | | | +-------+----------------------+ | | | 13 | CADDX | | | +-------+----------------------+ | | | 14 | XFRobot | | | +-------+----------------------+ | | | +----------------------------------+ .. _MNT2_DEFLT_MODE: MNT2\_DEFLT\_MODE: Mount default operating mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount default operating mode on startup and after control is returned from autopilot +-------------------------------+ | Values | +===============================+ | +-------+-------------------+ | | | Value | Meaning | | | +=======+===================+ | | | 0 | Retracted | | | +-------+-------------------+ | | | 1 | Neutral | | | +-------+-------------------+ | | | 2 | MavLink Targeting | | | +-------+-------------------+ | | | 3 | RC Targeting | | | +-------+-------------------+ | | | 4 | GPS Point | | | +-------+-------------------+ | | | 5 | SysID Target | | | +-------+-------------------+ | | | 6 | Home Location | | | +-------+-------------------+ | | | +-------------------------------+ .. _MNT2_RC_RATE: MNT2\_RC\_RATE: Mount RC Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pilot rate control\'s maximum rate\. Set to zero to use angle control +-----------+---------+--------------------+ | Increment | Range | Units | +===========+=========+====================+ | 1 | 0 to 90 | degrees per second | +-----------+---------+--------------------+ .. _MNT2_ROLL_MIN: MNT2\_ROLL\_MIN: Mount Roll angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Roll angle minimum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT2_ROLL_MAX: MNT2\_ROLL\_MAX: Mount Roll angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Roll angle maximum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT2_PITCH_MIN: MNT2\_PITCH\_MIN: Mount Pitch angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Pitch angle minimum +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 1 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _MNT2_PITCH_MAX: MNT2\_PITCH\_MAX: Mount Pitch angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Pitch angle maximum +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 1 | -90 to 90 | degrees | +-----------+-----------+---------+ .. _MNT2_YAW_MIN: MNT2\_YAW\_MIN: Mount Yaw angle minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Yaw angle minimum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT2_YAW_MAX: MNT2\_YAW\_MAX: Mount Yaw angle maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount Yaw angle maximum +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 1 | -180 to 180 | degrees | +-----------+-------------+---------+ .. _MNT2_RETRACT_X: MNT2\_RETRACT\_X: Mount roll angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount roll angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_RETRACT_Y: MNT2\_RETRACT\_Y: Mount pitch angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount pitch angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_RETRACT_Z: MNT2\_RETRACT\_Z: Mount yaw angle when in retracted position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount yaw angle when in retracted position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_NEUTRAL_X: MNT2\_NEUTRAL\_X: Mount roll angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount roll angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_NEUTRAL_Y: MNT2\_NEUTRAL\_Y: Mount pitch angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount pitch angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_NEUTRAL_Z: MNT2\_NEUTRAL\_Z: Mount yaw angle when in neutral position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount yaw angle when in neutral position +-----------+-----------------+---------+ | Increment | Range | Units | +===========+=================+=========+ | 1 | -180.0 to 180.0 | degrees | +-----------+-----------------+---------+ .. _MNT2_LEAD_RLL: MNT2\_LEAD\_RLL: Mount Roll stabilization lead time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.005 | 0.0 to 0.2 | seconds | +-----------+------------+---------+ .. _MNT2_LEAD_PTCH: MNT2\_LEAD\_PTCH: Mount Pitch stabilization lead time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.005 | 0.0 to 0.2 | seconds | +-----------+------------+---------+ .. _MNT2_SYSID_DFLT: MNT2\_SYSID\_DFLT: Mount Target sysID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Default Target sysID for the mount to point to\. +-----------------+ | Range | +=================+ | 0 to 4294967295 | +-----------------+ .. _MNT2_DEVID: MNT2\_DEVID: Mount Device ID ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mount device ID\, taking into account its type\, bus and instance .. _MNT2_OPTIONS: MNT2\_OPTIONS: Mount options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mount options bitmask\, note bit 2 only impacts RC targetting mode +---------------------------------------------------+ | Bitmask | +===================================================+ | +-----+-----------------------------------------+ | | | Bit | Meaning | | | +=====+=========================================+ | | | 0 | RC lock state from previous mode | | | +-----+-----------------------------------------+ | | | 1 | Return to neutral angles on RC failsafe | | | +-----+-----------------------------------------+ | | | 2 | Force FPV (bf) lock on roll and pitch | | | +-----+-----------------------------------------+ | | | +---------------------------------------------------+ .. _MNT2_ATT_RATE: MNT2\_ATT\_RATE: Vehicle attitude send rate to MAVLink gimbal ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Rate at which AUTOPILOT\_STATE\_FOR\_GIMBAL\_DEVICE messages are sent to a MAVLink gimbal\. Zero disables these messages +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _MNT2_TARG_RATE: MNT2\_TARG\_RATE: MAVLink gimbal target refresh rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Refresh rate for unchanged MAVLink gimbal targets\. Changed targets are sent immediately\. Zero disables target transmission +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _parameters_MSP: MSP Parameters -------------- .. _MSP_OSD_NCELLS: MSP\_OSD\_NCELLS: Cell count override ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Used for average cell voltage calculation +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Auto | | | +-------+---------+ | | | 1 | 1 | | | +-------+---------+ | | | 2 | 2 | | | +-------+---------+ | | | 3 | 3 | | | +-------+---------+ | | | 4 | 4 | | | +-------+---------+ | | | 5 | 5 | | | +-------+---------+ | | | 6 | 6 | | | +-------+---------+ | | | 7 | 7 | | | +-------+---------+ | | | 8 | 8 | | | +-------+---------+ | | | 9 | 9 | | | +-------+---------+ | | | 10 | 10 | | | +-------+---------+ | | | 11 | 11 | | | +-------+---------+ | | | 12 | 12 | | | +-------+---------+ | | | 13 | 13 | | | +-------+---------+ | | | 14 | 14 | | | +-------+---------+ | | | +---------------------+ .. _MSP_OPTIONS: MSP\_OPTIONS: MSP OSD Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ A bitmask to set some MSP specific options\: EnableTelemetryMode\-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot\, EnableBTFLFonts\-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts\. EnableINAVFonts uses INAV fonts and overrides EnableBTFLFonts if that option is enabled\. ForceVTXHighPower always reports the vehicle as armed so a VTX that drops to low power when disarmed stays at full power\. +-------------------------------+ | Bitmask | +===============================+ | +-----+---------------------+ | | | Bit | Meaning | | | +=====+=====================+ | | | 0 | EnableTelemetryMode | | | +-----+---------------------+ | | | 1 | unused | | | +-----+---------------------+ | | | 2 | EnableBTFLFonts | | | +-----+---------------------+ | | | 3 | EnableINAVFonts | | | +-----+---------------------+ | | | 4 | ForceVTXHighPower | | | +-----+---------------------+ | | | +-------------------------------+ .. _parameters_NAVL1_: NAVL1\_ Parameters ------------------ .. _NAVL1_PERIOD: NAVL1\_PERIOD: L1 control period ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Period in seconds of L1 tracking loop\. This parameter is the primary control for aggressiveness of turns in auto mode\. This needs to be larger for less responsive airframes\. The default is quite conservative\, but for most RC aircraft will lead to reasonable flight\. For smaller more agile aircraft a value closer to 15 is appropriate\, or even as low as 10 for some very agile aircraft\. When tuning\, change this value in small increments\, as a value that is much too small \(say 5 or 10 below the right value\) can lead to very radical turns\, and a risk of stalling\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 1 to 60 | seconds | +-----------+---------+---------+ .. _NAVL1_DAMPING: NAVL1\_DAMPING: L1 control damping ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Damping ratio for L1 control\. Increase this in increments of 0\.05 if you are getting overshoot in path tracking\. You should not need a value below 0\.7 or above 0\.85\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.05 | 0.6 to 1.0 | +-----------+------------+ .. _NAVL1_XTRACK_I: NAVL1\_XTRACK\_I: L1 control crosstrack integrator gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Crosstrack error integrator gain\. This gain is applied to the crosstrack error to ensure it converges to zero\. Set to zero to disable\. Smaller values converge slower\, higher values will cause crosstrack error oscillation\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.01 | 0 to 0.1 | +-----------+----------+ .. _NAVL1_LIM_BANK: NAVL1\_LIM\_BANK: Loiter Radius Bank Angle Limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The sealevel bank angle limit for a continuous loiter\. \(Used to calculate airframe loading limits at higher altitudes\)\. Setting to 0\, will instead just scale the loiter radius directly +---------+---------+ | Range | Units | +=========+=========+ | 0 to 89 | degrees | +---------+---------+ .. _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_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_OSD: OSD Parameters -------------- .. _OSD_TYPE: OSD\_TYPE: OSD type ~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* OSD type\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | None | | | +-------+-----------------+ | | | 1 | MAX7456 | | | +-------+-----------------+ | | | 2 | SITL | | | +-------+-----------------+ | | | 3 | MSP | | | +-------+-----------------+ | | | 4 | TXONLY | | | +-------+-----------------+ | | | 5 | MSP_DISPLAYPORT | | | +-------+-----------------+ | | | +-----------------------------+ .. _OSD_CHAN: OSD\_CHAN: Screen switch transmitter channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the channel used to switch different OSD screens\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 5 | Chan5 | | | +-------+---------+ | | | 6 | Chan6 | | | +-------+---------+ | | | 7 | Chan7 | | | +-------+---------+ | | | 8 | Chan8 | | | +-------+---------+ | | | 9 | Chan9 | | | +-------+---------+ | | | 10 | Chan10 | | | +-------+---------+ | | | 11 | Chan11 | | | +-------+---------+ | | | 12 | Chan12 | | | +-------+---------+ | | | 13 | Chan13 | | | +-------+---------+ | | | 14 | Chan14 | | | +-------+---------+ | | | 15 | Chan15 | | | +-------+---------+ | | | 16 | Chan16 | | | +-------+---------+ | | | +---------------------+ .. _OSD_SW_METHOD: OSD\_SW\_METHOD: Screen switch method ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the method used to switch different OSD screens\. +---------------------------------------------------------------------------------------------------------+ | Values | +=========================================================================================================+ | +-------+---------------------------------------------------------------------------------------------+ | | | Value | Meaning | | | +=======+=============================================================================================+ | | | 0 | switch to next screen if channel value was changed | | | +-------+---------------------------------------------------------------------------------------------+ | | | 1 | select screen based on pwm ranges specified for each screen | | | +-------+---------------------------------------------------------------------------------------------+ | | | 2 | switch to next screen after low to high transition and every 1s while channel value is high | | | +-------+---------------------------------------------------------------------------------------------+ | | | +---------------------------------------------------------------------------------------------------------+ .. _OSD_OPTIONS: OSD\_OPTIONS: OSD Options ~~~~~~~~~~~~~~~~~~~~~~~~~ This sets options that change the display +--------------------------------------------------------------+ | Bitmask | +==============================================================+ | +-----+----------------------------------------------------+ | | | Bit | Meaning | | | +=====+====================================================+ | | | 0 | UseDecimalPack | | | +-----+----------------------------------------------------+ | | | 1 | InvertedWindArrow | | | +-----+----------------------------------------------------+ | | | 2 | InvertedAHRoll | | | +-----+----------------------------------------------------+ | | | 3 | Convert feet to miles at 5280ft instead of 10000ft | | | +-----+----------------------------------------------------+ | | | 4 | DisableCrosshair | | | +-----+----------------------------------------------------+ | | | 5 | TranslateArrows | | | +-----+----------------------------------------------------+ | | | 6 | AviationStyleAH | | | +-----+----------------------------------------------------+ | | | 7 | Prefix LQ with RF Mode | | | +-----+----------------------------------------------------+ | | | +--------------------------------------------------------------+ .. _OSD_FONT: OSD\_FONT: OSD Font ~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This sets which OSD font to use\. It is an integer from 0 to the number of fonts available .. _OSD_V_OFFSET: OSD\_V\_OFFSET: OSD vertical offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets vertical offset of the osd inside image +---------+ | Range | +=========+ | 0 to 31 | +---------+ .. _OSD_H_OFFSET: OSD\_H\_OFFSET: OSD horizontal offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Sets horizontal offset of the osd inside image +---------+ | Range | +=========+ | 0 to 63 | +---------+ .. _OSD_W_RSSI: OSD\_W\_RSSI: RSSI warn level \(in \%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which RSSI item will flash \(in positive \% or negative dBm values as applicable\)\. 30\% or \-100dBm are defaults\. +-------------+ | Range | +=============+ | -128 to 100 | +-------------+ .. _OSD_W_NSAT: OSD\_W\_NSAT: NSAT warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which NSAT item will flash +---------+ | Range | +=========+ | 1 to 30 | +---------+ .. _OSD_W_BATVOLT: OSD\_W\_BATVOLT: BAT\_VOLT warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which BAT\_VOLT item will flash +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_UNITS: OSD\_UNITS: Display Units ~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the units to use in displaying items +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Metric | | | +-------+----------+ | | | 1 | Imperial | | | +-------+----------+ | | | 2 | SI | | | +-------+----------+ | | | 3 | Aviation | | | +-------+----------+ | | | +----------------------+ .. _OSD_MSG_TIME: OSD\_MSG\_TIME: Message display duration in seconds ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets message duration seconds +---------+ | Range | +=========+ | 1 to 20 | +---------+ .. _OSD_ARM_SCR: OSD\_ARM\_SCR: Arm screen ~~~~~~~~~~~~~~~~~~~~~~~~~ Screen to be shown on Arm event\. Zero to disable the feature\. +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _OSD_DSARM_SCR: OSD\_DSARM\_SCR: Disarm screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Screen to be shown on disarm event\. Zero to disable the feature\. +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _OSD_FS_SCR: OSD\_FS\_SCR: Failsafe screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Screen to be shown on failsafe event\. Zero to disable the feature\. +--------+ | Range | +========+ | 0 to 4 | +--------+ .. _OSD_BTN_DELAY: OSD\_BTN\_DELAY: Button delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Debounce time in ms for stick commanded parameter navigation\. +-----------+ | Range | +===========+ | 0 to 3000 | +-----------+ .. _OSD_W_TERR: OSD\_W\_TERR: Terrain warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level below which TER\_HGT item will flash\. \-1 disables\. +------------+--------+ | Range | Units | +============+========+ | -1 to 3000 | meters | +------------+--------+ .. _OSD_W_AVGCELLV: OSD\_W\_AVGCELLV: AVGCELLV warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which AVGCELLV item will flash +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_CELL_COUNT: OSD\_CELL\_COUNT: Battery cell count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Used for average cell voltage display\. \-1 disables\, 0 uses cell count autodetection for well charged LIPO\/LIION batteries at connection\, other values manually select cell count used\. +-----------+ | Increment | +===========+ | 1 | +-----------+ .. _OSD_W_RESTVOLT: OSD\_W\_RESTVOLT: RESTVOLT warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which RESTVOLT item will flash +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_W_ACRVOLT: OSD\_W\_ACRVOLT: Avg Cell Resting Volt warn level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which ACRVOLT item will flash +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_W_LQ: OSD\_W\_LQ: RC link quality warn level \(in \%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which RC\_LQ item will flash \(\%\) +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _OSD_W_SNR: OSD\_W\_SNR: RC link SNR warn level \(in \%\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Set level at which RC\_SNR item will flash \(in db\) +-----------+ | Range | +===========+ | -20 to 10 | +-----------+ .. _OSD_SB_H_OFS: OSD\_SB\_H\_OFS: Sidebar horizontal offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Extends the spacing between the sidebar elements by this amount of columns\. Positive values increases the width to the right of the screen\. +---------+ | Range | +=========+ | 0 to 20 | +---------+ .. _OSD_SB_V_EXT: OSD\_SB\_V\_EXT: Sidebar vertical extension ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increase of vertical length of the sidebar itens by this amount of lines\. Applied equally both above and below the default setting\. +---------+ | Range | +=========+ | 0 to 10 | +---------+ .. _OSD_TYPE2: OSD\_TYPE2: OSD type 2 ~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* OSD type 2\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. +-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | None | | | +-------+-----------------+ | | | 1 | MAX7456 | | | +-------+-----------------+ | | | 2 | SITL | | | +-------+-----------------+ | | | 3 | MSP | | | +-------+-----------------+ | | | 4 | TXONLY | | | +-------+-----------------+ | | | 5 | MSP_DISPLAYPORT | | | +-------+-----------------+ | | | +-----------------------------+ .. _parameters_OSD1_: OSD1\_ Parameters ----------------- .. _OSD1_ENABLE: OSD1\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_CHAN_MIN: OSD1\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD1_CHAN_MAX: OSD1\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD1_ALTITUDE_EN: OSD1\_ALTITUDE\_EN: ALTITUDE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of altitude AGL +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ALTITUDE_X: OSD1\_ALTITUDE\_X: ALTITUDE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ALTITUDE_Y: OSD1\_ALTITUDE\_Y: ALTITUDE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BAT_VOLT_EN: OSD1\_BAT\_VOLT\_EN: BATVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_BAT_VOLT_X: OSD1\_BAT\_VOLT\_X: BATVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BAT_VOLT_Y: OSD1\_BAT\_VOLT\_Y: BATVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RSSI_EN: OSD1\_RSSI\_EN: RSSI\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC signal strength +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_RSSI_X: OSD1\_RSSI\_X: RSSI\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RSSI_Y: OSD1\_RSSI\_Y: RSSI\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CURRENT_EN: OSD1\_CURRENT\_EN: CURRENT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery current +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_CURRENT_X: OSD1\_CURRENT\_X: CURRENT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CURRENT_Y: OSD1\_CURRENT\_Y: CURRENT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BATUSED_EN: OSD1\_BATUSED\_EN: BATUSED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays primary battery mAh consumed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_BATUSED_X: OSD1\_BATUSED\_X: BATUSED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BATUSED_Y: OSD1\_BATUSED\_Y: BATUSED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_SATS_EN: OSD1\_SATS\_EN: SATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays number of acquired satellites +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_SATS_X: OSD1\_SATS\_X: SATS\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_SATS_Y: OSD1\_SATS\_Y: SATS\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_FLTMODE_EN: OSD1\_FLTMODE\_EN: FLTMODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight mode +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_FLTMODE_X: OSD1\_FLTMODE\_X: FLTMODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_FLTMODE_Y: OSD1\_FLTMODE\_Y: FLTMODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_MESSAGE_EN: OSD1\_MESSAGE\_EN: MESSAGE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Mavlink messages +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_MESSAGE_X: OSD1\_MESSAGE\_X: MESSAGE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_MESSAGE_Y: OSD1\_MESSAGE\_Y: MESSAGE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_GSPEED_EN: OSD1\_GSPEED\_EN: GSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS ground speed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_GSPEED_X: OSD1\_GSPEED\_X: GSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_GSPEED_Y: OSD1\_GSPEED\_Y: GSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HORIZON_EN: OSD1\_HORIZON\_EN: HORIZON\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_HORIZON_X: OSD1\_HORIZON\_X: HORIZON\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HORIZON_Y: OSD1\_HORIZON\_Y: HORIZON\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HOME_EN: OSD1\_HOME\_EN: HOME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance and relative direction to HOME +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_HOME_X: OSD1\_HOME\_X: HOME\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HOME_Y: OSD1\_HOME\_Y: HOME\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HEADING_EN: OSD1\_HEADING\_EN: HEADING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays heading +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_HEADING_X: OSD1\_HEADING\_X: HEADING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HEADING_Y: OSD1\_HEADING\_Y: HEADING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_THROTTLE_EN: OSD1\_THROTTLE\_EN: THROTTLE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays actual throttle percentage being sent to motor\(s\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_THROTTLE_X: OSD1\_THROTTLE\_X: THROTTLE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_THROTTLE_Y: OSD1\_THROTTLE\_Y: THROTTLE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_COMPASS_EN: OSD1\_COMPASS\_EN: COMPASS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of compass rose +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_COMPASS_X: OSD1\_COMPASS\_X: COMPASS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_COMPASS_Y: OSD1\_COMPASS\_Y: COMPASS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_WIND_EN: OSD1\_WIND\_EN: WIND\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_WIND_X: OSD1\_WIND\_X: WIND\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_WIND_Y: OSD1\_WIND\_Y: WIND\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ASPEED_EN: OSD1\_ASPEED\_EN: ASPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed value being used by TECS \(fused value\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ASPEED_X: OSD1\_ASPEED\_X: ASPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ASPEED_Y: OSD1\_ASPEED\_Y: ASPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_VSPEED_EN: OSD1\_VSPEED\_EN: VSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb rate +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_VSPEED_X: OSD1\_VSPEED\_X: VSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_VSPEED_Y: OSD1\_VSPEED\_Y: VSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ESCTEMP_EN: OSD1\_ESCTEMP\_EN: ESCTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ESCTEMP_X: OSD1\_ESCTEMP\_X: ESCTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ESCTEMP_Y: OSD1\_ESCTEMP\_Y: ESCTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ESCRPM_EN: OSD1\_ESCRPM\_EN: ESCRPM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ESCRPM_X: OSD1\_ESCRPM\_X: ESCRPM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ESCRPM_Y: OSD1\_ESCRPM\_Y: ESCRPM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ESCAMPS_EN: OSD1\_ESCAMPS\_EN: ESCAMPS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ESCAMPS_X: OSD1\_ESCAMPS\_X: ESCAMPS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ESCAMPS_Y: OSD1\_ESCAMPS\_Y: ESCAMPS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_GPSLAT_EN: OSD1\_GPSLAT\_EN: GPSLAT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS latitude +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_GPSLAT_X: OSD1\_GPSLAT\_X: GPSLAT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_GPSLAT_Y: OSD1\_GPSLAT\_Y: GPSLAT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_GPSLONG_EN: OSD1\_GPSLONG\_EN: GPSLONG\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS longitude +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_GPSLONG_X: OSD1\_GPSLONG\_X: GPSLONG\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_GPSLONG_Y: OSD1\_GPSLONG\_Y: GPSLONG\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ROLL_EN: OSD1\_ROLL\_EN: ROLL\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of roll from level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ROLL_X: OSD1\_ROLL\_X: ROLL\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ROLL_Y: OSD1\_ROLL\_Y: ROLL\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_PITCH_EN: OSD1\_PITCH\_EN: PITCH\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of pitch from level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_PITCH_X: OSD1\_PITCH\_X: PITCH\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_PITCH_Y: OSD1\_PITCH\_Y: PITCH\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_TEMP_EN: OSD1\_TEMP\_EN: TEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary barometer +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_TEMP_X: OSD1\_TEMP\_X: TEMP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_TEMP_Y: OSD1\_TEMP\_Y: TEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HDOP_EN: OSD1\_HDOP\_EN: HDOP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays Horizontal Dilution Of Position +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_HDOP_X: OSD1\_HDOP\_X: HDOP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HDOP_Y: OSD1\_HDOP\_Y: HDOP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_WAYPOINT_EN: OSD1\_WAYPOINT\_EN: WAYPOINT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays bearing and distance to next waypoint +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_WAYPOINT_X: OSD1\_WAYPOINT\_X: WAYPOINT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_WAYPOINT_Y: OSD1\_WAYPOINT\_Y: WAYPOINT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_XTRACK_EN: OSD1\_XTRACK\_EN: XTRACK\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays crosstrack error +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_XTRACK_X: OSD1\_XTRACK\_X: XTRACK\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_XTRACK_Y: OSD1\_XTRACK\_Y: XTRACK\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_DIST_EN: OSD1\_DIST\_EN: DIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays total distance flown +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_DIST_X: OSD1\_DIST\_X: DIST\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_DIST_Y: OSD1\_DIST\_Y: DIST\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_STATS_EN: OSD1\_STATS\_EN: STATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight stats +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_STATS_X: OSD1\_STATS\_X: STATS\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_STATS_Y: OSD1\_STATS\_Y: STATS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_FLTIME_EN: OSD1\_FLTIME\_EN: FLTIME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays total flight time +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_FLTIME_X: OSD1\_FLTIME\_X: FLTIME\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_FLTIME_Y: OSD1\_FLTIME\_Y: FLTIME\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CLIMBEFF_EN: OSD1\_CLIMBEFF\_EN: CLIMBEFF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb efficiency \(climb rate\/current\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_CLIMBEFF_X: OSD1\_CLIMBEFF\_X: CLIMBEFF\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CLIMBEFF_Y: OSD1\_CLIMBEFF\_Y: CLIMBEFF\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_EFF_EN: OSD1\_EFF\_EN: EFF\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays flight efficiency \(mAh\/km or \/mi\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_EFF_X: OSD1\_EFF\_X: EFF\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_EFF_Y: OSD1\_EFF\_Y: EFF\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BTEMP_EN: OSD1\_BTEMP\_EN: BTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by secondary barometer +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_BTEMP_X: OSD1\_BTEMP\_X: BTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BTEMP_Y: OSD1\_BTEMP\_Y: BTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ATEMP_EN: OSD1\_ATEMP\_EN: ATEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ATEMP_X: OSD1\_ATEMP\_X: ATEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ATEMP_Y: OSD1\_ATEMP\_Y: ATEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BAT2_VLT_EN: OSD1\_BAT2\_VLT\_EN: BAT2VLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery2 voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_BAT2_VLT_X: OSD1\_BAT2\_VLT\_X: BAT2VLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BAT2_VLT_Y: OSD1\_BAT2\_VLT\_Y: BAT2VLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BAT2USED_EN: OSD1\_BAT2USED\_EN: BAT2USED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays secondary battery mAh consumed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_BAT2USED_X: OSD1\_BAT2USED\_X: BAT2USED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BAT2USED_Y: OSD1\_BAT2USED\_Y: BAT2USED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ASPD2_EN: OSD1\_ASPD2\_EN: ASPD2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from secondary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ASPD2_X: OSD1\_ASPD2\_X: ASPD2\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ASPD2_Y: OSD1\_ASPD2\_Y: ASPD2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ASPD1_EN: OSD1\_ASPD1\_EN: ASPD1\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from primary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ASPD1_X: OSD1\_ASPD1\_X: ASPD1\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ASPD1_Y: OSD1\_ASPD1\_Y: ASPD1\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CLK_EN: OSD1\_CLK\_EN: CLK\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays a clock panel based on AP\_RTC local time +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_CLK_X: OSD1\_CLK\_X: CLK\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CLK_Y: OSD1\_CLK\_Y: CLK\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_SIDEBARS_EN: OSD1\_SIDEBARS\_EN: SIDEBARS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon side bars +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_SIDEBARS_X: OSD1\_SIDEBARS\_X: SIDEBARS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_SIDEBARS_Y: OSD1\_SIDEBARS\_Y: SIDEBARS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CRSSHAIR_EN: OSD1\_CRSSHAIR\_EN: CRSSHAIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon crosshair \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_CRSSHAIR_X: OSD1\_CRSSHAIR\_X: CRSSHAIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CRSSHAIR_Y: OSD1\_CRSSHAIR\_Y: CRSSHAIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HOMEDIST_EN: OSD1\_HOMEDIST\_EN: HOMEDIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance from HOME \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_HOMEDIST_X: OSD1\_HOMEDIST\_X: HOMEDIST\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HOMEDIST_Y: OSD1\_HOMEDIST\_Y: HOMEDIST\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_HOMEDIR_EN: OSD1\_HOMEDIR\_EN: HOMEDIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays relative direction to HOME \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_HOMEDIR_X: OSD1\_HOMEDIR\_X: HOMEDIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_HOMEDIR_Y: OSD1\_HOMEDIR\_Y: HOMEDIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_POWER_EN: OSD1\_POWER\_EN: POWER\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays power \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_POWER_X: OSD1\_POWER\_X: POWER\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_POWER_Y: OSD1\_POWER\_Y: POWER\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CELLVOLT_EN: OSD1\_CELLVOLT\_EN: CELL\_VOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_CELLVOLT_X: OSD1\_CELLVOLT\_X: CELL\_VOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CELLVOLT_Y: OSD1\_CELLVOLT\_Y: CELL\_VOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_BATTBAR_EN: OSD1\_BATTBAR\_EN: BATT\_BAR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery usage bar \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_BATTBAR_X: OSD1\_BATTBAR\_X: BATT\_BAR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_BATTBAR_Y: OSD1\_BATTBAR\_Y: BATT\_BAR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ARMING_EN: OSD1\_ARMING\_EN: ARMING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays arming status \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ARMING_X: OSD1\_ARMING\_X: ARMING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ARMING_Y: OSD1\_ARMING\_Y: ARMING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_PLUSCODE_EN: OSD1\_PLUSCODE\_EN: PLUSCODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays pluscode \(OLC\) element +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_PLUSCODE_X: OSD1\_PLUSCODE\_X: PLUSCODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_PLUSCODE_Y: OSD1\_PLUSCODE\_Y: PLUSCODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CALLSIGN_EN: OSD1\_CALLSIGN\_EN: CALLSIGN\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays callsign from callsign\.txt on microSD card +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_CALLSIGN_X: OSD1\_CALLSIGN\_X: CALLSIGN\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CALLSIGN_Y: OSD1\_CALLSIGN\_Y: CALLSIGN\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_CURRENT2_EN: OSD1\_CURRENT2\_EN: CURRENT2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays 2nd battery current +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_CURRENT2_X: OSD1\_CURRENT2\_X: CURRENT2\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_CURRENT2_Y: OSD1\_CURRENT2\_Y: CURRENT2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_VTX_PWR_EN: OSD1\_VTX\_PWR\_EN: VTX\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays VTX Power +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_VTX_PWR_X: OSD1\_VTX\_PWR\_X: VTX\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_VTX_PWR_Y: OSD1\_VTX\_PWR\_Y: VTX\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_TER_HGT_EN: OSD1\_TER\_HGT\_EN: TER\_HGT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Height above terrain +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_TER_HGT_X: OSD1\_TER\_HGT\_X: TER\_HGT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_TER_HGT_Y: OSD1\_TER\_HGT\_Y: TER\_HGT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_AVGCELLV_EN: OSD1\_AVGCELLV\_EN: AVGCELLV\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_AVGCELLV_X: OSD1\_AVGCELLV\_X: AVGCELLV\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_AVGCELLV_Y: OSD1\_AVGCELLV\_Y: AVGCELLV\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RESTVOLT_EN: OSD1\_RESTVOLT\_EN: RESTVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery resting voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_RESTVOLT_X: OSD1\_RESTVOLT\_X: RESTVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RESTVOLT_Y: OSD1\_RESTVOLT\_Y: RESTVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_FENCE_EN: OSD1\_FENCE\_EN: FENCE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays indication of fence enable and breach +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_FENCE_X: OSD1\_FENCE\_X: FENCE\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_FENCE_Y: OSD1\_FENCE\_Y: FENCE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RNGF_EN: OSD1\_RNGF\_EN: RNGF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays a rangefinder\'s distance in cm +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_RNGF_X: OSD1\_RNGF\_X: RNGF\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RNGF_Y: OSD1\_RNGF\_Y: RNGF\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ACRVOLT_EN: OSD1\_ACRVOLT\_EN: ACRVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_ACRVOLT_X: OSD1\_ACRVOLT\_X: ACRVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_ACRVOLT_Y: OSD1\_ACRVOLT\_Y: ACRVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RPM_EN: OSD1\_RPM\_EN: RPM\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays main rotor revs\/min +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_RPM_X: OSD1\_RPM\_X: RPM\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD1_RPM_Y: OSD1\_RPM\_Y: RPM\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD1_LINK_Q_EN: OSD1\_LINK\_Q\_EN: LINK\_Q\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Receiver link quality +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_LINK_Q_X: OSD1\_LINK\_Q\_X: LINK\_Q\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_LINK_Q_Y: OSD1\_LINK\_Q\_Y: LINK\_Q\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_TXT_RES: OSD1\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22\/53x20 \(MSP DisplayPort only\) +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | 30x16 | | | +-------+---------+ | | | 1 | 50x18 | | | +-------+---------+ | | | 2 | 60x22 | | | +-------+---------+ | | | 3 | 53x20 | | | +-------+---------+ | | | +---------------------+ .. _OSD1_FONT: OSD1\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the font index for this screen \(MSP DisplayPort only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RC_PWR_EN: OSD1\_RC\_PWR\_EN: RC\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link transmit \(TX\) power in mW or W\, depending on level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_RC_PWR_X: OSD1\_RC\_PWR\_X: RC\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RC_PWR_Y: OSD1\_RC\_PWR\_Y: RC\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RSSIDBM_EN: OSD1\_RSSIDBM\_EN: RSSIDBM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal strength in dBm +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_RSSIDBM_X: OSD1\_RSSIDBM\_X: RSSIDBM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RSSIDBM_Y: OSD1\_RSSIDBM\_Y: RSSIDBM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RC_SNR_EN: OSD1\_RC\_SNR\_EN: RC\_SNR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal to noise ratio in dB +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_RC_SNR_X: OSD1\_RC\_SNR\_X: RC\_SNR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RC_SNR_Y: OSD1\_RC\_SNR\_Y: RC\_SNR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RC_ANT_EN: OSD1\_RC\_ANT\_EN: RC\_ANT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current RC link active antenna +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_RC_ANT_X: OSD1\_RC\_ANT\_X: RC\_ANT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RC_ANT_Y: OSD1\_RC\_ANT\_Y: RC\_ANT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_RC_LQ_EN: OSD1\_RC\_LQ\_EN: RC\_LQ\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD1_RC_LQ_X: OSD1\_RC\_LQ\_X: RC\_LQ\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD1_RC_LQ_Y: OSD1\_RC\_LQ\_Y: RC\_LQ\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD1_ESC_IDX: OSD1\_ESC\_IDX: ESC\_IDX ~~~~~~~~~~~~~~~~~~~~~~~~ Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _parameters_OSD2_: OSD2\_ Parameters ----------------- .. _OSD2_ENABLE: OSD2\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_CHAN_MIN: OSD2\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD2_CHAN_MAX: OSD2\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD2_ALTITUDE_EN: OSD2\_ALTITUDE\_EN: ALTITUDE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of altitude AGL +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ALTITUDE_X: OSD2\_ALTITUDE\_X: ALTITUDE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ALTITUDE_Y: OSD2\_ALTITUDE\_Y: ALTITUDE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BAT_VOLT_EN: OSD2\_BAT\_VOLT\_EN: BATVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_BAT_VOLT_X: OSD2\_BAT\_VOLT\_X: BATVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BAT_VOLT_Y: OSD2\_BAT\_VOLT\_Y: BATVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RSSI_EN: OSD2\_RSSI\_EN: RSSI\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC signal strength +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_RSSI_X: OSD2\_RSSI\_X: RSSI\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RSSI_Y: OSD2\_RSSI\_Y: RSSI\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CURRENT_EN: OSD2\_CURRENT\_EN: CURRENT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery current +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_CURRENT_X: OSD2\_CURRENT\_X: CURRENT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CURRENT_Y: OSD2\_CURRENT\_Y: CURRENT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BATUSED_EN: OSD2\_BATUSED\_EN: BATUSED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays primary battery mAh consumed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_BATUSED_X: OSD2\_BATUSED\_X: BATUSED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BATUSED_Y: OSD2\_BATUSED\_Y: BATUSED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_SATS_EN: OSD2\_SATS\_EN: SATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays number of acquired satellites +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_SATS_X: OSD2\_SATS\_X: SATS\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_SATS_Y: OSD2\_SATS\_Y: SATS\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_FLTMODE_EN: OSD2\_FLTMODE\_EN: FLTMODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight mode +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_FLTMODE_X: OSD2\_FLTMODE\_X: FLTMODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_FLTMODE_Y: OSD2\_FLTMODE\_Y: FLTMODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_MESSAGE_EN: OSD2\_MESSAGE\_EN: MESSAGE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Mavlink messages +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_MESSAGE_X: OSD2\_MESSAGE\_X: MESSAGE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_MESSAGE_Y: OSD2\_MESSAGE\_Y: MESSAGE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_GSPEED_EN: OSD2\_GSPEED\_EN: GSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS ground speed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_GSPEED_X: OSD2\_GSPEED\_X: GSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_GSPEED_Y: OSD2\_GSPEED\_Y: GSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HORIZON_EN: OSD2\_HORIZON\_EN: HORIZON\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_HORIZON_X: OSD2\_HORIZON\_X: HORIZON\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HORIZON_Y: OSD2\_HORIZON\_Y: HORIZON\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HOME_EN: OSD2\_HOME\_EN: HOME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance and relative direction to HOME +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_HOME_X: OSD2\_HOME\_X: HOME\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HOME_Y: OSD2\_HOME\_Y: HOME\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HEADING_EN: OSD2\_HEADING\_EN: HEADING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays heading +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_HEADING_X: OSD2\_HEADING\_X: HEADING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HEADING_Y: OSD2\_HEADING\_Y: HEADING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_THROTTLE_EN: OSD2\_THROTTLE\_EN: THROTTLE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays actual throttle percentage being sent to motor\(s\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_THROTTLE_X: OSD2\_THROTTLE\_X: THROTTLE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_THROTTLE_Y: OSD2\_THROTTLE\_Y: THROTTLE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_COMPASS_EN: OSD2\_COMPASS\_EN: COMPASS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of compass rose +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_COMPASS_X: OSD2\_COMPASS\_X: COMPASS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_COMPASS_Y: OSD2\_COMPASS\_Y: COMPASS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_WIND_EN: OSD2\_WIND\_EN: WIND\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_WIND_X: OSD2\_WIND\_X: WIND\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_WIND_Y: OSD2\_WIND\_Y: WIND\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ASPEED_EN: OSD2\_ASPEED\_EN: ASPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed value being used by TECS \(fused value\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ASPEED_X: OSD2\_ASPEED\_X: ASPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ASPEED_Y: OSD2\_ASPEED\_Y: ASPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_VSPEED_EN: OSD2\_VSPEED\_EN: VSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb rate +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_VSPEED_X: OSD2\_VSPEED\_X: VSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_VSPEED_Y: OSD2\_VSPEED\_Y: VSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ESCTEMP_EN: OSD2\_ESCTEMP\_EN: ESCTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ESCTEMP_X: OSD2\_ESCTEMP\_X: ESCTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ESCTEMP_Y: OSD2\_ESCTEMP\_Y: ESCTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ESCRPM_EN: OSD2\_ESCRPM\_EN: ESCRPM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ESCRPM_X: OSD2\_ESCRPM\_X: ESCRPM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ESCRPM_Y: OSD2\_ESCRPM\_Y: ESCRPM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ESCAMPS_EN: OSD2\_ESCAMPS\_EN: ESCAMPS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ESCAMPS_X: OSD2\_ESCAMPS\_X: ESCAMPS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ESCAMPS_Y: OSD2\_ESCAMPS\_Y: ESCAMPS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_GPSLAT_EN: OSD2\_GPSLAT\_EN: GPSLAT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS latitude +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_GPSLAT_X: OSD2\_GPSLAT\_X: GPSLAT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_GPSLAT_Y: OSD2\_GPSLAT\_Y: GPSLAT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_GPSLONG_EN: OSD2\_GPSLONG\_EN: GPSLONG\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS longitude +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_GPSLONG_X: OSD2\_GPSLONG\_X: GPSLONG\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_GPSLONG_Y: OSD2\_GPSLONG\_Y: GPSLONG\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ROLL_EN: OSD2\_ROLL\_EN: ROLL\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of roll from level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ROLL_X: OSD2\_ROLL\_X: ROLL\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ROLL_Y: OSD2\_ROLL\_Y: ROLL\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_PITCH_EN: OSD2\_PITCH\_EN: PITCH\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of pitch from level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_PITCH_X: OSD2\_PITCH\_X: PITCH\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_PITCH_Y: OSD2\_PITCH\_Y: PITCH\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_TEMP_EN: OSD2\_TEMP\_EN: TEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary barometer +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_TEMP_X: OSD2\_TEMP\_X: TEMP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_TEMP_Y: OSD2\_TEMP\_Y: TEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HDOP_EN: OSD2\_HDOP\_EN: HDOP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays Horizontal Dilution Of Position +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_HDOP_X: OSD2\_HDOP\_X: HDOP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HDOP_Y: OSD2\_HDOP\_Y: HDOP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_WAYPOINT_EN: OSD2\_WAYPOINT\_EN: WAYPOINT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays bearing and distance to next waypoint +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_WAYPOINT_X: OSD2\_WAYPOINT\_X: WAYPOINT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_WAYPOINT_Y: OSD2\_WAYPOINT\_Y: WAYPOINT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_XTRACK_EN: OSD2\_XTRACK\_EN: XTRACK\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays crosstrack error +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_XTRACK_X: OSD2\_XTRACK\_X: XTRACK\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_XTRACK_Y: OSD2\_XTRACK\_Y: XTRACK\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_DIST_EN: OSD2\_DIST\_EN: DIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays total distance flown +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_DIST_X: OSD2\_DIST\_X: DIST\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_DIST_Y: OSD2\_DIST\_Y: DIST\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_STATS_EN: OSD2\_STATS\_EN: STATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight stats +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_STATS_X: OSD2\_STATS\_X: STATS\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_STATS_Y: OSD2\_STATS\_Y: STATS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_FLTIME_EN: OSD2\_FLTIME\_EN: FLTIME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays total flight time +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_FLTIME_X: OSD2\_FLTIME\_X: FLTIME\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_FLTIME_Y: OSD2\_FLTIME\_Y: FLTIME\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CLIMBEFF_EN: OSD2\_CLIMBEFF\_EN: CLIMBEFF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb efficiency \(climb rate\/current\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_CLIMBEFF_X: OSD2\_CLIMBEFF\_X: CLIMBEFF\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CLIMBEFF_Y: OSD2\_CLIMBEFF\_Y: CLIMBEFF\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_EFF_EN: OSD2\_EFF\_EN: EFF\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays flight efficiency \(mAh\/km or \/mi\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_EFF_X: OSD2\_EFF\_X: EFF\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_EFF_Y: OSD2\_EFF\_Y: EFF\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BTEMP_EN: OSD2\_BTEMP\_EN: BTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by secondary barometer +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_BTEMP_X: OSD2\_BTEMP\_X: BTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BTEMP_Y: OSD2\_BTEMP\_Y: BTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ATEMP_EN: OSD2\_ATEMP\_EN: ATEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ATEMP_X: OSD2\_ATEMP\_X: ATEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ATEMP_Y: OSD2\_ATEMP\_Y: ATEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BAT2_VLT_EN: OSD2\_BAT2\_VLT\_EN: BAT2VLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery2 voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_BAT2_VLT_X: OSD2\_BAT2\_VLT\_X: BAT2VLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BAT2_VLT_Y: OSD2\_BAT2\_VLT\_Y: BAT2VLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BAT2USED_EN: OSD2\_BAT2USED\_EN: BAT2USED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays secondary battery mAh consumed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_BAT2USED_X: OSD2\_BAT2USED\_X: BAT2USED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BAT2USED_Y: OSD2\_BAT2USED\_Y: BAT2USED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ASPD2_EN: OSD2\_ASPD2\_EN: ASPD2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from secondary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ASPD2_X: OSD2\_ASPD2\_X: ASPD2\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ASPD2_Y: OSD2\_ASPD2\_Y: ASPD2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ASPD1_EN: OSD2\_ASPD1\_EN: ASPD1\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from primary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ASPD1_X: OSD2\_ASPD1\_X: ASPD1\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ASPD1_Y: OSD2\_ASPD1\_Y: ASPD1\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CLK_EN: OSD2\_CLK\_EN: CLK\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays a clock panel based on AP\_RTC local time +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_CLK_X: OSD2\_CLK\_X: CLK\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CLK_Y: OSD2\_CLK\_Y: CLK\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_SIDEBARS_EN: OSD2\_SIDEBARS\_EN: SIDEBARS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon side bars +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_SIDEBARS_X: OSD2\_SIDEBARS\_X: SIDEBARS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_SIDEBARS_Y: OSD2\_SIDEBARS\_Y: SIDEBARS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CRSSHAIR_EN: OSD2\_CRSSHAIR\_EN: CRSSHAIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon crosshair \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_CRSSHAIR_X: OSD2\_CRSSHAIR\_X: CRSSHAIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CRSSHAIR_Y: OSD2\_CRSSHAIR\_Y: CRSSHAIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HOMEDIST_EN: OSD2\_HOMEDIST\_EN: HOMEDIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance from HOME \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_HOMEDIST_X: OSD2\_HOMEDIST\_X: HOMEDIST\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HOMEDIST_Y: OSD2\_HOMEDIST\_Y: HOMEDIST\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_HOMEDIR_EN: OSD2\_HOMEDIR\_EN: HOMEDIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays relative direction to HOME \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_HOMEDIR_X: OSD2\_HOMEDIR\_X: HOMEDIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_HOMEDIR_Y: OSD2\_HOMEDIR\_Y: HOMEDIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_POWER_EN: OSD2\_POWER\_EN: POWER\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays power \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_POWER_X: OSD2\_POWER\_X: POWER\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_POWER_Y: OSD2\_POWER\_Y: POWER\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CELLVOLT_EN: OSD2\_CELLVOLT\_EN: CELL\_VOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_CELLVOLT_X: OSD2\_CELLVOLT\_X: CELL\_VOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CELLVOLT_Y: OSD2\_CELLVOLT\_Y: CELL\_VOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_BATTBAR_EN: OSD2\_BATTBAR\_EN: BATT\_BAR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery usage bar \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_BATTBAR_X: OSD2\_BATTBAR\_X: BATT\_BAR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_BATTBAR_Y: OSD2\_BATTBAR\_Y: BATT\_BAR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ARMING_EN: OSD2\_ARMING\_EN: ARMING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays arming status \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ARMING_X: OSD2\_ARMING\_X: ARMING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ARMING_Y: OSD2\_ARMING\_Y: ARMING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_PLUSCODE_EN: OSD2\_PLUSCODE\_EN: PLUSCODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays pluscode \(OLC\) element +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_PLUSCODE_X: OSD2\_PLUSCODE\_X: PLUSCODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_PLUSCODE_Y: OSD2\_PLUSCODE\_Y: PLUSCODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CALLSIGN_EN: OSD2\_CALLSIGN\_EN: CALLSIGN\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays callsign from callsign\.txt on microSD card +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_CALLSIGN_X: OSD2\_CALLSIGN\_X: CALLSIGN\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CALLSIGN_Y: OSD2\_CALLSIGN\_Y: CALLSIGN\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_CURRENT2_EN: OSD2\_CURRENT2\_EN: CURRENT2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays 2nd battery current +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_CURRENT2_X: OSD2\_CURRENT2\_X: CURRENT2\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_CURRENT2_Y: OSD2\_CURRENT2\_Y: CURRENT2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_VTX_PWR_EN: OSD2\_VTX\_PWR\_EN: VTX\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays VTX Power +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_VTX_PWR_X: OSD2\_VTX\_PWR\_X: VTX\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_VTX_PWR_Y: OSD2\_VTX\_PWR\_Y: VTX\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_TER_HGT_EN: OSD2\_TER\_HGT\_EN: TER\_HGT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Height above terrain +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_TER_HGT_X: OSD2\_TER\_HGT\_X: TER\_HGT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_TER_HGT_Y: OSD2\_TER\_HGT\_Y: TER\_HGT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_AVGCELLV_EN: OSD2\_AVGCELLV\_EN: AVGCELLV\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_AVGCELLV_X: OSD2\_AVGCELLV\_X: AVGCELLV\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_AVGCELLV_Y: OSD2\_AVGCELLV\_Y: AVGCELLV\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RESTVOLT_EN: OSD2\_RESTVOLT\_EN: RESTVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery resting voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_RESTVOLT_X: OSD2\_RESTVOLT\_X: RESTVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RESTVOLT_Y: OSD2\_RESTVOLT\_Y: RESTVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_FENCE_EN: OSD2\_FENCE\_EN: FENCE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays indication of fence enable and breach +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_FENCE_X: OSD2\_FENCE\_X: FENCE\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_FENCE_Y: OSD2\_FENCE\_Y: FENCE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RNGF_EN: OSD2\_RNGF\_EN: RNGF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays a rangefinder\'s distance in cm +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_RNGF_X: OSD2\_RNGF\_X: RNGF\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RNGF_Y: OSD2\_RNGF\_Y: RNGF\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ACRVOLT_EN: OSD2\_ACRVOLT\_EN: ACRVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_ACRVOLT_X: OSD2\_ACRVOLT\_X: ACRVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_ACRVOLT_Y: OSD2\_ACRVOLT\_Y: ACRVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RPM_EN: OSD2\_RPM\_EN: RPM\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays main rotor revs\/min +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_RPM_X: OSD2\_RPM\_X: RPM\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD2_RPM_Y: OSD2\_RPM\_Y: RPM\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD2_LINK_Q_EN: OSD2\_LINK\_Q\_EN: LINK\_Q\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Receiver link quality +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_LINK_Q_X: OSD2\_LINK\_Q\_X: LINK\_Q\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_LINK_Q_Y: OSD2\_LINK\_Q\_Y: LINK\_Q\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_TXT_RES: OSD2\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22\/53x20 \(MSP DisplayPort only\) +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | 30x16 | | | +-------+---------+ | | | 1 | 50x18 | | | +-------+---------+ | | | 2 | 60x22 | | | +-------+---------+ | | | 3 | 53x20 | | | +-------+---------+ | | | +---------------------+ .. _OSD2_FONT: OSD2\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the font index for this screen \(MSP DisplayPort only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RC_PWR_EN: OSD2\_RC\_PWR\_EN: RC\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link transmit \(TX\) power in mW or W\, depending on level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_RC_PWR_X: OSD2\_RC\_PWR\_X: RC\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RC_PWR_Y: OSD2\_RC\_PWR\_Y: RC\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RSSIDBM_EN: OSD2\_RSSIDBM\_EN: RSSIDBM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal strength in dBm +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_RSSIDBM_X: OSD2\_RSSIDBM\_X: RSSIDBM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RSSIDBM_Y: OSD2\_RSSIDBM\_Y: RSSIDBM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RC_SNR_EN: OSD2\_RC\_SNR\_EN: RC\_SNR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal to noise ratio in dB +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_RC_SNR_X: OSD2\_RC\_SNR\_X: RC\_SNR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RC_SNR_Y: OSD2\_RC\_SNR\_Y: RC\_SNR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RC_ANT_EN: OSD2\_RC\_ANT\_EN: RC\_ANT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current RC link active antenna +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_RC_ANT_X: OSD2\_RC\_ANT\_X: RC\_ANT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RC_ANT_Y: OSD2\_RC\_ANT\_Y: RC\_ANT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_RC_LQ_EN: OSD2\_RC\_LQ\_EN: RC\_LQ\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD2_RC_LQ_X: OSD2\_RC\_LQ\_X: RC\_LQ\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD2_RC_LQ_Y: OSD2\_RC\_LQ\_Y: RC\_LQ\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD2_ESC_IDX: OSD2\_ESC\_IDX: ESC\_IDX ~~~~~~~~~~~~~~~~~~~~~~~~ Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _parameters_OSD3_: OSD3\_ Parameters ----------------- .. _OSD3_ENABLE: OSD3\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_CHAN_MIN: OSD3\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD3_CHAN_MAX: OSD3\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD3_ALTITUDE_EN: OSD3\_ALTITUDE\_EN: ALTITUDE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of altitude AGL +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ALTITUDE_X: OSD3\_ALTITUDE\_X: ALTITUDE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ALTITUDE_Y: OSD3\_ALTITUDE\_Y: ALTITUDE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BAT_VOLT_EN: OSD3\_BAT\_VOLT\_EN: BATVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_BAT_VOLT_X: OSD3\_BAT\_VOLT\_X: BATVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BAT_VOLT_Y: OSD3\_BAT\_VOLT\_Y: BATVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RSSI_EN: OSD3\_RSSI\_EN: RSSI\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC signal strength +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_RSSI_X: OSD3\_RSSI\_X: RSSI\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RSSI_Y: OSD3\_RSSI\_Y: RSSI\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CURRENT_EN: OSD3\_CURRENT\_EN: CURRENT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery current +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_CURRENT_X: OSD3\_CURRENT\_X: CURRENT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CURRENT_Y: OSD3\_CURRENT\_Y: CURRENT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BATUSED_EN: OSD3\_BATUSED\_EN: BATUSED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays primary battery mAh consumed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_BATUSED_X: OSD3\_BATUSED\_X: BATUSED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BATUSED_Y: OSD3\_BATUSED\_Y: BATUSED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_SATS_EN: OSD3\_SATS\_EN: SATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays number of acquired satellites +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_SATS_X: OSD3\_SATS\_X: SATS\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_SATS_Y: OSD3\_SATS\_Y: SATS\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_FLTMODE_EN: OSD3\_FLTMODE\_EN: FLTMODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight mode +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_FLTMODE_X: OSD3\_FLTMODE\_X: FLTMODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_FLTMODE_Y: OSD3\_FLTMODE\_Y: FLTMODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_MESSAGE_EN: OSD3\_MESSAGE\_EN: MESSAGE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Mavlink messages +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_MESSAGE_X: OSD3\_MESSAGE\_X: MESSAGE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_MESSAGE_Y: OSD3\_MESSAGE\_Y: MESSAGE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_GSPEED_EN: OSD3\_GSPEED\_EN: GSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS ground speed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_GSPEED_X: OSD3\_GSPEED\_X: GSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_GSPEED_Y: OSD3\_GSPEED\_Y: GSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HORIZON_EN: OSD3\_HORIZON\_EN: HORIZON\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_HORIZON_X: OSD3\_HORIZON\_X: HORIZON\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HORIZON_Y: OSD3\_HORIZON\_Y: HORIZON\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HOME_EN: OSD3\_HOME\_EN: HOME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance and relative direction to HOME +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_HOME_X: OSD3\_HOME\_X: HOME\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HOME_Y: OSD3\_HOME\_Y: HOME\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HEADING_EN: OSD3\_HEADING\_EN: HEADING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays heading +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_HEADING_X: OSD3\_HEADING\_X: HEADING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HEADING_Y: OSD3\_HEADING\_Y: HEADING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_THROTTLE_EN: OSD3\_THROTTLE\_EN: THROTTLE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays actual throttle percentage being sent to motor\(s\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_THROTTLE_X: OSD3\_THROTTLE\_X: THROTTLE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_THROTTLE_Y: OSD3\_THROTTLE\_Y: THROTTLE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_COMPASS_EN: OSD3\_COMPASS\_EN: COMPASS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of compass rose +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_COMPASS_X: OSD3\_COMPASS\_X: COMPASS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_COMPASS_Y: OSD3\_COMPASS\_Y: COMPASS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_WIND_EN: OSD3\_WIND\_EN: WIND\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_WIND_X: OSD3\_WIND\_X: WIND\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_WIND_Y: OSD3\_WIND\_Y: WIND\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ASPEED_EN: OSD3\_ASPEED\_EN: ASPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed value being used by TECS \(fused value\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ASPEED_X: OSD3\_ASPEED\_X: ASPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ASPEED_Y: OSD3\_ASPEED\_Y: ASPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_VSPEED_EN: OSD3\_VSPEED\_EN: VSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb rate +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_VSPEED_X: OSD3\_VSPEED\_X: VSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_VSPEED_Y: OSD3\_VSPEED\_Y: VSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ESCTEMP_EN: OSD3\_ESCTEMP\_EN: ESCTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ESCTEMP_X: OSD3\_ESCTEMP\_X: ESCTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ESCTEMP_Y: OSD3\_ESCTEMP\_Y: ESCTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ESCRPM_EN: OSD3\_ESCRPM\_EN: ESCRPM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ESCRPM_X: OSD3\_ESCRPM\_X: ESCRPM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ESCRPM_Y: OSD3\_ESCRPM\_Y: ESCRPM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ESCAMPS_EN: OSD3\_ESCAMPS\_EN: ESCAMPS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ESCAMPS_X: OSD3\_ESCAMPS\_X: ESCAMPS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ESCAMPS_Y: OSD3\_ESCAMPS\_Y: ESCAMPS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_GPSLAT_EN: OSD3\_GPSLAT\_EN: GPSLAT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS latitude +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_GPSLAT_X: OSD3\_GPSLAT\_X: GPSLAT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_GPSLAT_Y: OSD3\_GPSLAT\_Y: GPSLAT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_GPSLONG_EN: OSD3\_GPSLONG\_EN: GPSLONG\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS longitude +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_GPSLONG_X: OSD3\_GPSLONG\_X: GPSLONG\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_GPSLONG_Y: OSD3\_GPSLONG\_Y: GPSLONG\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ROLL_EN: OSD3\_ROLL\_EN: ROLL\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of roll from level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ROLL_X: OSD3\_ROLL\_X: ROLL\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ROLL_Y: OSD3\_ROLL\_Y: ROLL\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_PITCH_EN: OSD3\_PITCH\_EN: PITCH\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of pitch from level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_PITCH_X: OSD3\_PITCH\_X: PITCH\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_PITCH_Y: OSD3\_PITCH\_Y: PITCH\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_TEMP_EN: OSD3\_TEMP\_EN: TEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary barometer +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_TEMP_X: OSD3\_TEMP\_X: TEMP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_TEMP_Y: OSD3\_TEMP\_Y: TEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HDOP_EN: OSD3\_HDOP\_EN: HDOP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays Horizontal Dilution Of Position +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_HDOP_X: OSD3\_HDOP\_X: HDOP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HDOP_Y: OSD3\_HDOP\_Y: HDOP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_WAYPOINT_EN: OSD3\_WAYPOINT\_EN: WAYPOINT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays bearing and distance to next waypoint +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_WAYPOINT_X: OSD3\_WAYPOINT\_X: WAYPOINT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_WAYPOINT_Y: OSD3\_WAYPOINT\_Y: WAYPOINT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_XTRACK_EN: OSD3\_XTRACK\_EN: XTRACK\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays crosstrack error +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_XTRACK_X: OSD3\_XTRACK\_X: XTRACK\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_XTRACK_Y: OSD3\_XTRACK\_Y: XTRACK\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_DIST_EN: OSD3\_DIST\_EN: DIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays total distance flown +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_DIST_X: OSD3\_DIST\_X: DIST\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_DIST_Y: OSD3\_DIST\_Y: DIST\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_STATS_EN: OSD3\_STATS\_EN: STATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight stats +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_STATS_X: OSD3\_STATS\_X: STATS\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_STATS_Y: OSD3\_STATS\_Y: STATS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_FLTIME_EN: OSD3\_FLTIME\_EN: FLTIME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays total flight time +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_FLTIME_X: OSD3\_FLTIME\_X: FLTIME\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_FLTIME_Y: OSD3\_FLTIME\_Y: FLTIME\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CLIMBEFF_EN: OSD3\_CLIMBEFF\_EN: CLIMBEFF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb efficiency \(climb rate\/current\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_CLIMBEFF_X: OSD3\_CLIMBEFF\_X: CLIMBEFF\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CLIMBEFF_Y: OSD3\_CLIMBEFF\_Y: CLIMBEFF\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_EFF_EN: OSD3\_EFF\_EN: EFF\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays flight efficiency \(mAh\/km or \/mi\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_EFF_X: OSD3\_EFF\_X: EFF\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_EFF_Y: OSD3\_EFF\_Y: EFF\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BTEMP_EN: OSD3\_BTEMP\_EN: BTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by secondary barometer +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_BTEMP_X: OSD3\_BTEMP\_X: BTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BTEMP_Y: OSD3\_BTEMP\_Y: BTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ATEMP_EN: OSD3\_ATEMP\_EN: ATEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ATEMP_X: OSD3\_ATEMP\_X: ATEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ATEMP_Y: OSD3\_ATEMP\_Y: ATEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BAT2_VLT_EN: OSD3\_BAT2\_VLT\_EN: BAT2VLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery2 voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_BAT2_VLT_X: OSD3\_BAT2\_VLT\_X: BAT2VLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BAT2_VLT_Y: OSD3\_BAT2\_VLT\_Y: BAT2VLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BAT2USED_EN: OSD3\_BAT2USED\_EN: BAT2USED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays secondary battery mAh consumed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_BAT2USED_X: OSD3\_BAT2USED\_X: BAT2USED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BAT2USED_Y: OSD3\_BAT2USED\_Y: BAT2USED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ASPD2_EN: OSD3\_ASPD2\_EN: ASPD2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from secondary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ASPD2_X: OSD3\_ASPD2\_X: ASPD2\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ASPD2_Y: OSD3\_ASPD2\_Y: ASPD2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ASPD1_EN: OSD3\_ASPD1\_EN: ASPD1\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from primary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ASPD1_X: OSD3\_ASPD1\_X: ASPD1\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ASPD1_Y: OSD3\_ASPD1\_Y: ASPD1\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CLK_EN: OSD3\_CLK\_EN: CLK\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays a clock panel based on AP\_RTC local time +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_CLK_X: OSD3\_CLK\_X: CLK\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CLK_Y: OSD3\_CLK\_Y: CLK\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_SIDEBARS_EN: OSD3\_SIDEBARS\_EN: SIDEBARS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon side bars +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_SIDEBARS_X: OSD3\_SIDEBARS\_X: SIDEBARS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_SIDEBARS_Y: OSD3\_SIDEBARS\_Y: SIDEBARS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CRSSHAIR_EN: OSD3\_CRSSHAIR\_EN: CRSSHAIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon crosshair \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_CRSSHAIR_X: OSD3\_CRSSHAIR\_X: CRSSHAIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CRSSHAIR_Y: OSD3\_CRSSHAIR\_Y: CRSSHAIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HOMEDIST_EN: OSD3\_HOMEDIST\_EN: HOMEDIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance from HOME \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_HOMEDIST_X: OSD3\_HOMEDIST\_X: HOMEDIST\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HOMEDIST_Y: OSD3\_HOMEDIST\_Y: HOMEDIST\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_HOMEDIR_EN: OSD3\_HOMEDIR\_EN: HOMEDIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays relative direction to HOME \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_HOMEDIR_X: OSD3\_HOMEDIR\_X: HOMEDIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_HOMEDIR_Y: OSD3\_HOMEDIR\_Y: HOMEDIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_POWER_EN: OSD3\_POWER\_EN: POWER\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays power \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_POWER_X: OSD3\_POWER\_X: POWER\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_POWER_Y: OSD3\_POWER\_Y: POWER\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CELLVOLT_EN: OSD3\_CELLVOLT\_EN: CELL\_VOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_CELLVOLT_X: OSD3\_CELLVOLT\_X: CELL\_VOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CELLVOLT_Y: OSD3\_CELLVOLT\_Y: CELL\_VOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_BATTBAR_EN: OSD3\_BATTBAR\_EN: BATT\_BAR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery usage bar \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_BATTBAR_X: OSD3\_BATTBAR\_X: BATT\_BAR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_BATTBAR_Y: OSD3\_BATTBAR\_Y: BATT\_BAR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ARMING_EN: OSD3\_ARMING\_EN: ARMING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays arming status \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ARMING_X: OSD3\_ARMING\_X: ARMING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ARMING_Y: OSD3\_ARMING\_Y: ARMING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_PLUSCODE_EN: OSD3\_PLUSCODE\_EN: PLUSCODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays pluscode \(OLC\) element +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_PLUSCODE_X: OSD3\_PLUSCODE\_X: PLUSCODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_PLUSCODE_Y: OSD3\_PLUSCODE\_Y: PLUSCODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CALLSIGN_EN: OSD3\_CALLSIGN\_EN: CALLSIGN\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays callsign from callsign\.txt on microSD card +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_CALLSIGN_X: OSD3\_CALLSIGN\_X: CALLSIGN\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CALLSIGN_Y: OSD3\_CALLSIGN\_Y: CALLSIGN\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_CURRENT2_EN: OSD3\_CURRENT2\_EN: CURRENT2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays 2nd battery current +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_CURRENT2_X: OSD3\_CURRENT2\_X: CURRENT2\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_CURRENT2_Y: OSD3\_CURRENT2\_Y: CURRENT2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_VTX_PWR_EN: OSD3\_VTX\_PWR\_EN: VTX\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays VTX Power +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_VTX_PWR_X: OSD3\_VTX\_PWR\_X: VTX\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_VTX_PWR_Y: OSD3\_VTX\_PWR\_Y: VTX\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_TER_HGT_EN: OSD3\_TER\_HGT\_EN: TER\_HGT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Height above terrain +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_TER_HGT_X: OSD3\_TER\_HGT\_X: TER\_HGT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_TER_HGT_Y: OSD3\_TER\_HGT\_Y: TER\_HGT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_AVGCELLV_EN: OSD3\_AVGCELLV\_EN: AVGCELLV\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_AVGCELLV_X: OSD3\_AVGCELLV\_X: AVGCELLV\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_AVGCELLV_Y: OSD3\_AVGCELLV\_Y: AVGCELLV\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RESTVOLT_EN: OSD3\_RESTVOLT\_EN: RESTVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery resting voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_RESTVOLT_X: OSD3\_RESTVOLT\_X: RESTVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RESTVOLT_Y: OSD3\_RESTVOLT\_Y: RESTVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_FENCE_EN: OSD3\_FENCE\_EN: FENCE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays indication of fence enable and breach +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_FENCE_X: OSD3\_FENCE\_X: FENCE\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_FENCE_Y: OSD3\_FENCE\_Y: FENCE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RNGF_EN: OSD3\_RNGF\_EN: RNGF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays a rangefinder\'s distance in cm +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_RNGF_X: OSD3\_RNGF\_X: RNGF\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RNGF_Y: OSD3\_RNGF\_Y: RNGF\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ACRVOLT_EN: OSD3\_ACRVOLT\_EN: ACRVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_ACRVOLT_X: OSD3\_ACRVOLT\_X: ACRVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_ACRVOLT_Y: OSD3\_ACRVOLT\_Y: ACRVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RPM_EN: OSD3\_RPM\_EN: RPM\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays main rotor revs\/min +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_RPM_X: OSD3\_RPM\_X: RPM\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD3_RPM_Y: OSD3\_RPM\_Y: RPM\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD3_LINK_Q_EN: OSD3\_LINK\_Q\_EN: LINK\_Q\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Receiver link quality +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_LINK_Q_X: OSD3\_LINK\_Q\_X: LINK\_Q\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_LINK_Q_Y: OSD3\_LINK\_Q\_Y: LINK\_Q\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_TXT_RES: OSD3\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22\/53x20 \(MSP DisplayPort only\) +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | 30x16 | | | +-------+---------+ | | | 1 | 50x18 | | | +-------+---------+ | | | 2 | 60x22 | | | +-------+---------+ | | | 3 | 53x20 | | | +-------+---------+ | | | +---------------------+ .. _OSD3_FONT: OSD3\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the font index for this screen \(MSP DisplayPort only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RC_PWR_EN: OSD3\_RC\_PWR\_EN: RC\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link transmit \(TX\) power in mW or W\, depending on level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_RC_PWR_X: OSD3\_RC\_PWR\_X: RC\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RC_PWR_Y: OSD3\_RC\_PWR\_Y: RC\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RSSIDBM_EN: OSD3\_RSSIDBM\_EN: RSSIDBM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal strength in dBm +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_RSSIDBM_X: OSD3\_RSSIDBM\_X: RSSIDBM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RSSIDBM_Y: OSD3\_RSSIDBM\_Y: RSSIDBM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RC_SNR_EN: OSD3\_RC\_SNR\_EN: RC\_SNR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal to noise ratio in dB +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_RC_SNR_X: OSD3\_RC\_SNR\_X: RC\_SNR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RC_SNR_Y: OSD3\_RC\_SNR\_Y: RC\_SNR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RC_ANT_EN: OSD3\_RC\_ANT\_EN: RC\_ANT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current RC link active antenna +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_RC_ANT_X: OSD3\_RC\_ANT\_X: RC\_ANT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RC_ANT_Y: OSD3\_RC\_ANT\_Y: RC\_ANT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_RC_LQ_EN: OSD3\_RC\_LQ\_EN: RC\_LQ\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD3_RC_LQ_X: OSD3\_RC\_LQ\_X: RC\_LQ\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD3_RC_LQ_Y: OSD3\_RC\_LQ\_Y: RC\_LQ\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD3_ESC_IDX: OSD3\_ESC\_IDX: ESC\_IDX ~~~~~~~~~~~~~~~~~~~~~~~~ Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _parameters_OSD4_: OSD4\_ Parameters ----------------- .. _OSD4_ENABLE: OSD4\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_CHAN_MIN: OSD4\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD4_CHAN_MAX: OSD4\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD4_ALTITUDE_EN: OSD4\_ALTITUDE\_EN: ALTITUDE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of altitude AGL +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ALTITUDE_X: OSD4\_ALTITUDE\_X: ALTITUDE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ALTITUDE_Y: OSD4\_ALTITUDE\_Y: ALTITUDE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BAT_VOLT_EN: OSD4\_BAT\_VOLT\_EN: BATVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_BAT_VOLT_X: OSD4\_BAT\_VOLT\_X: BATVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BAT_VOLT_Y: OSD4\_BAT\_VOLT\_Y: BATVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RSSI_EN: OSD4\_RSSI\_EN: RSSI\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC signal strength +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_RSSI_X: OSD4\_RSSI\_X: RSSI\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RSSI_Y: OSD4\_RSSI\_Y: RSSI\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CURRENT_EN: OSD4\_CURRENT\_EN: CURRENT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery current +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_CURRENT_X: OSD4\_CURRENT\_X: CURRENT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CURRENT_Y: OSD4\_CURRENT\_Y: CURRENT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BATUSED_EN: OSD4\_BATUSED\_EN: BATUSED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays primary battery mAh consumed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_BATUSED_X: OSD4\_BATUSED\_X: BATUSED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BATUSED_Y: OSD4\_BATUSED\_Y: BATUSED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_SATS_EN: OSD4\_SATS\_EN: SATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays number of acquired satellites +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_SATS_X: OSD4\_SATS\_X: SATS\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_SATS_Y: OSD4\_SATS\_Y: SATS\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_FLTMODE_EN: OSD4\_FLTMODE\_EN: FLTMODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight mode +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_FLTMODE_X: OSD4\_FLTMODE\_X: FLTMODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_FLTMODE_Y: OSD4\_FLTMODE\_Y: FLTMODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_MESSAGE_EN: OSD4\_MESSAGE\_EN: MESSAGE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Mavlink messages +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_MESSAGE_X: OSD4\_MESSAGE\_X: MESSAGE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_MESSAGE_Y: OSD4\_MESSAGE\_Y: MESSAGE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_GSPEED_EN: OSD4\_GSPEED\_EN: GSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS ground speed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_GSPEED_X: OSD4\_GSPEED\_X: GSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_GSPEED_Y: OSD4\_GSPEED\_Y: GSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HORIZON_EN: OSD4\_HORIZON\_EN: HORIZON\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_HORIZON_X: OSD4\_HORIZON\_X: HORIZON\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HORIZON_Y: OSD4\_HORIZON\_Y: HORIZON\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HOME_EN: OSD4\_HOME\_EN: HOME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance and relative direction to HOME +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_HOME_X: OSD4\_HOME\_X: HOME\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HOME_Y: OSD4\_HOME\_Y: HOME\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HEADING_EN: OSD4\_HEADING\_EN: HEADING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays heading +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_HEADING_X: OSD4\_HEADING\_X: HEADING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HEADING_Y: OSD4\_HEADING\_Y: HEADING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_THROTTLE_EN: OSD4\_THROTTLE\_EN: THROTTLE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays actual throttle percentage being sent to motor\(s\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_THROTTLE_X: OSD4\_THROTTLE\_X: THROTTLE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_THROTTLE_Y: OSD4\_THROTTLE\_Y: THROTTLE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_COMPASS_EN: OSD4\_COMPASS\_EN: COMPASS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables display of compass rose +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_COMPASS_X: OSD4\_COMPASS\_X: COMPASS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_COMPASS_Y: OSD4\_COMPASS\_Y: COMPASS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_WIND_EN: OSD4\_WIND\_EN: WIND\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_WIND_X: OSD4\_WIND\_X: WIND\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_WIND_Y: OSD4\_WIND\_Y: WIND\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ASPEED_EN: OSD4\_ASPEED\_EN: ASPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed value being used by TECS \(fused value\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ASPEED_X: OSD4\_ASPEED\_X: ASPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ASPEED_Y: OSD4\_ASPEED\_Y: ASPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_VSPEED_EN: OSD4\_VSPEED\_EN: VSPEED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb rate +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_VSPEED_X: OSD4\_VSPEED\_X: VSPEED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_VSPEED_Y: OSD4\_VSPEED\_Y: VSPEED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ESCTEMP_EN: OSD4\_ESCTEMP\_EN: ESCTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ESCTEMP_X: OSD4\_ESCTEMP\_X: ESCTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ESCTEMP_Y: OSD4\_ESCTEMP\_Y: ESCTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ESCRPM_EN: OSD4\_ESCRPM\_EN: ESCRPM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ESCRPM_X: OSD4\_ESCRPM\_X: ESCRPM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ESCRPM_Y: OSD4\_ESCRPM\_Y: ESCRPM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ESCAMPS_EN: OSD4\_ESCAMPS\_EN: ESCAMPS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ESCAMPS_X: OSD4\_ESCAMPS\_X: ESCAMPS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ESCAMPS_Y: OSD4\_ESCAMPS\_Y: ESCAMPS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_GPSLAT_EN: OSD4\_GPSLAT\_EN: GPSLAT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS latitude +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_GPSLAT_X: OSD4\_GPSLAT\_X: GPSLAT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_GPSLAT_Y: OSD4\_GPSLAT\_Y: GPSLAT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_GPSLONG_EN: OSD4\_GPSLONG\_EN: GPSLONG\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays GPS longitude +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_GPSLONG_X: OSD4\_GPSLONG\_X: GPSLONG\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_GPSLONG_Y: OSD4\_GPSLONG\_Y: GPSLONG\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ROLL_EN: OSD4\_ROLL\_EN: ROLL\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of roll from level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ROLL_X: OSD4\_ROLL\_X: ROLL\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ROLL_Y: OSD4\_ROLL\_Y: ROLL\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_PITCH_EN: OSD4\_PITCH\_EN: PITCH\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays degrees of pitch from level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_PITCH_X: OSD4\_PITCH\_X: PITCH\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_PITCH_Y: OSD4\_PITCH\_Y: PITCH\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_TEMP_EN: OSD4\_TEMP\_EN: TEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary barometer +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_TEMP_X: OSD4\_TEMP\_X: TEMP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_TEMP_Y: OSD4\_TEMP\_Y: TEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HDOP_EN: OSD4\_HDOP\_EN: HDOP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays Horizontal Dilution Of Position +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_HDOP_X: OSD4\_HDOP\_X: HDOP\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HDOP_Y: OSD4\_HDOP\_Y: HDOP\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_WAYPOINT_EN: OSD4\_WAYPOINT\_EN: WAYPOINT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays bearing and distance to next waypoint +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_WAYPOINT_X: OSD4\_WAYPOINT\_X: WAYPOINT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_WAYPOINT_Y: OSD4\_WAYPOINT\_Y: WAYPOINT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_XTRACK_EN: OSD4\_XTRACK\_EN: XTRACK\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays crosstrack error +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_XTRACK_X: OSD4\_XTRACK\_X: XTRACK\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_XTRACK_Y: OSD4\_XTRACK\_Y: XTRACK\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_DIST_EN: OSD4\_DIST\_EN: DIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays total distance flown +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_DIST_X: OSD4\_DIST\_X: DIST\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_DIST_Y: OSD4\_DIST\_Y: DIST\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_STATS_EN: OSD4\_STATS\_EN: STATS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays flight stats +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_STATS_X: OSD4\_STATS\_X: STATS\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_STATS_Y: OSD4\_STATS\_Y: STATS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_FLTIME_EN: OSD4\_FLTIME\_EN: FLTIME\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays total flight time +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_FLTIME_X: OSD4\_FLTIME\_X: FLTIME\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_FLTIME_Y: OSD4\_FLTIME\_Y: FLTIME\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CLIMBEFF_EN: OSD4\_CLIMBEFF\_EN: CLIMBEFF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays climb efficiency \(climb rate\/current\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_CLIMBEFF_X: OSD4\_CLIMBEFF\_X: CLIMBEFF\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CLIMBEFF_Y: OSD4\_CLIMBEFF\_Y: CLIMBEFF\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_EFF_EN: OSD4\_EFF\_EN: EFF\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays flight efficiency \(mAh\/km or \/mi\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_EFF_X: OSD4\_EFF\_X: EFF\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_EFF_Y: OSD4\_EFF\_Y: EFF\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BTEMP_EN: OSD4\_BTEMP\_EN: BTEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by secondary barometer +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_BTEMP_X: OSD4\_BTEMP\_X: BTEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BTEMP_Y: OSD4\_BTEMP\_Y: BTEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ATEMP_EN: OSD4\_ATEMP\_EN: ATEMP\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays temperature reported by primary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ATEMP_X: OSD4\_ATEMP\_X: ATEMP\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ATEMP_Y: OSD4\_ATEMP\_Y: ATEMP\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BAT2_VLT_EN: OSD4\_BAT2\_VLT\_EN: BAT2VLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery2 voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_BAT2_VLT_X: OSD4\_BAT2\_VLT\_X: BAT2VLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BAT2_VLT_Y: OSD4\_BAT2\_VLT\_Y: BAT2VLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BAT2USED_EN: OSD4\_BAT2USED\_EN: BAT2USED\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays secondary battery mAh consumed +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_BAT2USED_X: OSD4\_BAT2USED\_X: BAT2USED\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BAT2USED_Y: OSD4\_BAT2USED\_Y: BAT2USED\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ASPD2_EN: OSD4\_ASPD2\_EN: ASPD2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from secondary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ASPD2_X: OSD4\_ASPD2\_X: ASPD2\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ASPD2_Y: OSD4\_ASPD2\_Y: ASPD2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ASPD1_EN: OSD4\_ASPD1\_EN: ASPD1\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays airspeed reported directly from primary airspeed sensor +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ASPD1_X: OSD4\_ASPD1\_X: ASPD1\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ASPD1_Y: OSD4\_ASPD1\_Y: ASPD1\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CLK_EN: OSD4\_CLK\_EN: CLK\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays a clock panel based on AP\_RTC local time +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_CLK_X: OSD4\_CLK\_X: CLK\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CLK_Y: OSD4\_CLK\_Y: CLK\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_SIDEBARS_EN: OSD4\_SIDEBARS\_EN: SIDEBARS\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon side bars +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_SIDEBARS_X: OSD4\_SIDEBARS\_X: SIDEBARS\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_SIDEBARS_Y: OSD4\_SIDEBARS\_Y: SIDEBARS\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CRSSHAIR_EN: OSD4\_CRSSHAIR\_EN: CRSSHAIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays artificial horizon crosshair \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_CRSSHAIR_X: OSD4\_CRSSHAIR\_X: CRSSHAIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CRSSHAIR_Y: OSD4\_CRSSHAIR\_Y: CRSSHAIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HOMEDIST_EN: OSD4\_HOMEDIST\_EN: HOMEDIST\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays distance from HOME \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_HOMEDIST_X: OSD4\_HOMEDIST\_X: HOMEDIST\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HOMEDIST_Y: OSD4\_HOMEDIST\_Y: HOMEDIST\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen \(MSP OSD only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_HOMEDIR_EN: OSD4\_HOMEDIR\_EN: HOMEDIR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays relative direction to HOME \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_HOMEDIR_X: OSD4\_HOMEDIR\_X: HOMEDIR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_HOMEDIR_Y: OSD4\_HOMEDIR\_Y: HOMEDIR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_POWER_EN: OSD4\_POWER\_EN: POWER\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays power \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_POWER_X: OSD4\_POWER\_X: POWER\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_POWER_Y: OSD4\_POWER\_Y: POWER\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CELLVOLT_EN: OSD4\_CELLVOLT\_EN: CELL\_VOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_CELLVOLT_X: OSD4\_CELLVOLT\_X: CELL\_VOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CELLVOLT_Y: OSD4\_CELLVOLT\_Y: CELL\_VOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_BATTBAR_EN: OSD4\_BATTBAR\_EN: BATT\_BAR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays battery usage bar \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_BATTBAR_X: OSD4\_BATTBAR\_X: BATT\_BAR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_BATTBAR_Y: OSD4\_BATTBAR\_Y: BATT\_BAR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ARMING_EN: OSD4\_ARMING\_EN: ARMING\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays arming status \(MSP OSD only\) +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ARMING_X: OSD4\_ARMING\_X: ARMING\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ARMING_Y: OSD4\_ARMING\_Y: ARMING\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_PLUSCODE_EN: OSD4\_PLUSCODE\_EN: PLUSCODE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays pluscode \(OLC\) element +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_PLUSCODE_X: OSD4\_PLUSCODE\_X: PLUSCODE\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_PLUSCODE_Y: OSD4\_PLUSCODE\_Y: PLUSCODE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CALLSIGN_EN: OSD4\_CALLSIGN\_EN: CALLSIGN\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays callsign from callsign\.txt on microSD card +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_CALLSIGN_X: OSD4\_CALLSIGN\_X: CALLSIGN\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CALLSIGN_Y: OSD4\_CALLSIGN\_Y: CALLSIGN\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_CURRENT2_EN: OSD4\_CURRENT2\_EN: CURRENT2\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays 2nd battery current +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_CURRENT2_X: OSD4\_CURRENT2\_X: CURRENT2\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_CURRENT2_Y: OSD4\_CURRENT2\_Y: CURRENT2\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_VTX_PWR_EN: OSD4\_VTX\_PWR\_EN: VTX\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays VTX Power +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_VTX_PWR_X: OSD4\_VTX\_PWR\_X: VTX\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_VTX_PWR_Y: OSD4\_VTX\_PWR\_Y: VTX\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_TER_HGT_EN: OSD4\_TER\_HGT\_EN: TER\_HGT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Height above terrain +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_TER_HGT_X: OSD4\_TER\_HGT\_X: TER\_HGT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_TER_HGT_Y: OSD4\_TER\_HGT\_Y: TER\_HGT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_AVGCELLV_EN: OSD4\_AVGCELLV\_EN: AVGCELLV\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_AVGCELLV_X: OSD4\_AVGCELLV\_X: AVGCELLV\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_AVGCELLV_Y: OSD4\_AVGCELLV\_Y: AVGCELLV\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RESTVOLT_EN: OSD4\_RESTVOLT\_EN: RESTVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays main battery resting voltage +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_RESTVOLT_X: OSD4\_RESTVOLT\_X: RESTVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RESTVOLT_Y: OSD4\_RESTVOLT\_Y: RESTVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_FENCE_EN: OSD4\_FENCE\_EN: FENCE\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays indication of fence enable and breach +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_FENCE_X: OSD4\_FENCE\_X: FENCE\_X ~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_FENCE_Y: OSD4\_FENCE\_Y: FENCE\_Y ~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RNGF_EN: OSD4\_RNGF\_EN: RNGF\_EN ~~~~~~~~~~~~~~~~~~~~~~~~ Displays a rangefinder\'s distance in cm +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_RNGF_X: OSD4\_RNGF\_X: RNGF\_X ~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RNGF_Y: OSD4\_RNGF\_Y: RNGF\_Y ~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ACRVOLT_EN: OSD4\_ACRVOLT\_EN: ACRVOLT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_ACRVOLT_X: OSD4\_ACRVOLT\_X: ACRVOLT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_ACRVOLT_Y: OSD4\_ACRVOLT\_Y: ACRVOLT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RPM_EN: OSD4\_RPM\_EN: RPM\_EN ~~~~~~~~~~~~~~~~~~~~~~ Displays main rotor revs\/min +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_RPM_X: OSD4\_RPM\_X: RPM\_X ~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD4_RPM_Y: OSD4\_RPM\_Y: RPM\_Y ~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD4_LINK_Q_EN: OSD4\_LINK\_Q\_EN: LINK\_Q\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays Receiver link quality +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_LINK_Q_X: OSD4\_LINK\_Q\_X: LINK\_Q\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_LINK_Q_Y: OSD4\_LINK\_Q\_Y: LINK\_Q\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_TXT_RES: OSD4\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22\/53x20 \(MSP DisplayPort only\) +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | 30x16 | | | +-------+---------+ | | | 1 | 50x18 | | | +-------+---------+ | | | 2 | 60x22 | | | +-------+---------+ | | | 3 | 53x20 | | | +-------+---------+ | | | +---------------------+ .. _OSD4_FONT: OSD4\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sets the font index for this screen \(MSP DisplayPort only\) +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RC_PWR_EN: OSD4\_RC\_PWR\_EN: RC\_PWR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link transmit \(TX\) power in mW or W\, depending on level +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_RC_PWR_X: OSD4\_RC\_PWR\_X: RC\_PWR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RC_PWR_Y: OSD4\_RC\_PWR\_Y: RC\_PWR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RSSIDBM_EN: OSD4\_RSSIDBM\_EN: RSSIDBM\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal strength in dBm +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_RSSIDBM_X: OSD4\_RSSIDBM\_X: RSSIDBM\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RSSIDBM_Y: OSD4\_RSSIDBM\_Y: RSSIDBM\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RC_SNR_EN: OSD4\_RC\_SNR\_EN: RC\_SNR\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays RC link signal to noise ratio in dB +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_RC_SNR_X: OSD4\_RC\_SNR\_X: RC\_SNR\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RC_SNR_Y: OSD4\_RC\_SNR\_Y: RC\_SNR\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RC_ANT_EN: OSD4\_RC\_ANT\_EN: RC\_ANT\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the current RC link active antenna +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_RC_ANT_X: OSD4\_RC\_ANT\_X: RC\_ANT\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RC_ANT_Y: OSD4\_RC\_ANT\_Y: RC\_ANT\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_RC_LQ_EN: OSD4\_RC\_LQ\_EN: RC\_LQ\_EN ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD4_RC_LQ_X: OSD4\_RC\_LQ\_X: RC\_LQ\_X ~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 59 | +---------+ .. _OSD4_RC_LQ_Y: OSD4\_RC\_LQ\_Y: RC\_LQ\_Y ~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 21 | +---------+ .. _OSD4_ESC_IDX: OSD4\_ESC\_IDX: ESC\_IDX ~~~~~~~~~~~~~~~~~~~~~~~~ Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. +---------+ | Range | +=========+ | 0 to 32 | +---------+ .. _parameters_OSD5_: OSD5\_ Parameters ----------------- .. _OSD5_ENABLE: OSD5\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_CHAN_MIN: OSD5\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD5_CHAN_MAX: OSD5\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD5_SAVE_X: OSD5\_SAVE\_X: SAVE\_X ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Horizontal position of Save button on screen +---------+ | Range | +=========+ | 0 to 25 | +---------+ .. _OSD5_SAVE_Y: OSD5\_SAVE\_Y: SAVE\_Y ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Vertical position of Save button on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _parameters_OSD5_PARAM1: OSD5\_PARAM1 Parameters ----------------------- .. _OSD5_PARAM1_EN: OSD5\_PARAM1\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_PARAM1_X: OSD5\_PARAM1\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM1_Y: OSD5\_PARAM1\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM1_KEY: OSD5\_PARAM1\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM1_IDX: OSD5\_PARAM1\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM1_GRP: OSD5\_PARAM1\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM1_MIN: OSD5\_PARAM1\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM1_MAX: OSD5\_PARAM1\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM1_INCR: OSD5\_PARAM1\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM1_TYPE: OSD5\_PARAM1\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM2: OSD5\_PARAM2 Parameters ----------------------- .. _OSD5_PARAM2_EN: OSD5\_PARAM2\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_PARAM2_X: OSD5\_PARAM2\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM2_Y: OSD5\_PARAM2\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM2_KEY: OSD5\_PARAM2\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM2_IDX: OSD5\_PARAM2\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM2_GRP: OSD5\_PARAM2\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM2_MIN: OSD5\_PARAM2\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM2_MAX: OSD5\_PARAM2\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM2_INCR: OSD5\_PARAM2\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM2_TYPE: OSD5\_PARAM2\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM3: OSD5\_PARAM3 Parameters ----------------------- .. _OSD5_PARAM3_EN: OSD5\_PARAM3\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_PARAM3_X: OSD5\_PARAM3\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM3_Y: OSD5\_PARAM3\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM3_KEY: OSD5\_PARAM3\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM3_IDX: OSD5\_PARAM3\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM3_GRP: OSD5\_PARAM3\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM3_MIN: OSD5\_PARAM3\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM3_MAX: OSD5\_PARAM3\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM3_INCR: OSD5\_PARAM3\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM3_TYPE: OSD5\_PARAM3\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM4: OSD5\_PARAM4 Parameters ----------------------- .. _OSD5_PARAM4_EN: OSD5\_PARAM4\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_PARAM4_X: OSD5\_PARAM4\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM4_Y: OSD5\_PARAM4\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM4_KEY: OSD5\_PARAM4\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM4_IDX: OSD5\_PARAM4\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM4_GRP: OSD5\_PARAM4\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM4_MIN: OSD5\_PARAM4\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM4_MAX: OSD5\_PARAM4\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM4_INCR: OSD5\_PARAM4\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM4_TYPE: OSD5\_PARAM4\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM5: OSD5\_PARAM5 Parameters ----------------------- .. _OSD5_PARAM5_EN: OSD5\_PARAM5\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_PARAM5_X: OSD5\_PARAM5\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM5_Y: OSD5\_PARAM5\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM5_KEY: OSD5\_PARAM5\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM5_IDX: OSD5\_PARAM5\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM5_GRP: OSD5\_PARAM5\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM5_MIN: OSD5\_PARAM5\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM5_MAX: OSD5\_PARAM5\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM5_INCR: OSD5\_PARAM5\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM5_TYPE: OSD5\_PARAM5\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM6: OSD5\_PARAM6 Parameters ----------------------- .. _OSD5_PARAM6_EN: OSD5\_PARAM6\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_PARAM6_X: OSD5\_PARAM6\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM6_Y: OSD5\_PARAM6\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM6_KEY: OSD5\_PARAM6\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM6_IDX: OSD5\_PARAM6\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM6_GRP: OSD5\_PARAM6\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM6_MIN: OSD5\_PARAM6\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM6_MAX: OSD5\_PARAM6\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM6_INCR: OSD5\_PARAM6\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM6_TYPE: OSD5\_PARAM6\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM7: OSD5\_PARAM7 Parameters ----------------------- .. _OSD5_PARAM7_EN: OSD5\_PARAM7\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_PARAM7_X: OSD5\_PARAM7\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM7_Y: OSD5\_PARAM7\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM7_KEY: OSD5\_PARAM7\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM7_IDX: OSD5\_PARAM7\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM7_GRP: OSD5\_PARAM7\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM7_MIN: OSD5\_PARAM7\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM7_MAX: OSD5\_PARAM7\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM7_INCR: OSD5\_PARAM7\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM7_TYPE: OSD5\_PARAM7\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM8: OSD5\_PARAM8 Parameters ----------------------- .. _OSD5_PARAM8_EN: OSD5\_PARAM8\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_PARAM8_X: OSD5\_PARAM8\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM8_Y: OSD5\_PARAM8\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM8_KEY: OSD5\_PARAM8\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM8_IDX: OSD5\_PARAM8\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM8_GRP: OSD5\_PARAM8\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM8_MIN: OSD5\_PARAM8\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM8_MAX: OSD5\_PARAM8\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM8_INCR: OSD5\_PARAM8\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM8_TYPE: OSD5\_PARAM8\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD5_PARAM9: OSD5\_PARAM9 Parameters ----------------------- .. _OSD5_PARAM9_EN: OSD5\_PARAM9\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD5_PARAM9_X: OSD5\_PARAM9\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD5_PARAM9_Y: OSD5\_PARAM9\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD5_PARAM9_KEY: OSD5\_PARAM9\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD5_PARAM9_IDX: OSD5\_PARAM9\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD5_PARAM9_GRP: OSD5\_PARAM9\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD5_PARAM9_MIN: OSD5\_PARAM9\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD5_PARAM9_MAX: OSD5\_PARAM9\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD5_PARAM9_INCR: OSD5\_PARAM9\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD5_PARAM9_TYPE: OSD5\_PARAM9\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_: OSD6\_ Parameters ----------------- .. _OSD6_ENABLE: OSD6\_ENABLE: Enable screen ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable this screen +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_CHAN_MIN: OSD6\_CHAN\_MIN: Transmitter switch screen minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD6_CHAN_MAX: OSD6\_CHAN\_MAX: Transmitter switch screen maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for this screen +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _OSD6_SAVE_X: OSD6\_SAVE\_X: SAVE\_X ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Horizontal position of Save button on screen +---------+ | Range | +=========+ | 0 to 25 | +---------+ .. _OSD6_SAVE_Y: OSD6\_SAVE\_Y: SAVE\_Y ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Vertical position of Save button on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _parameters_OSD6_PARAM1: OSD6\_PARAM1 Parameters ----------------------- .. _OSD6_PARAM1_EN: OSD6\_PARAM1\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_PARAM1_X: OSD6\_PARAM1\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM1_Y: OSD6\_PARAM1\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM1_KEY: OSD6\_PARAM1\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM1_IDX: OSD6\_PARAM1\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM1_GRP: OSD6\_PARAM1\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM1_MIN: OSD6\_PARAM1\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM1_MAX: OSD6\_PARAM1\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM1_INCR: OSD6\_PARAM1\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM1_TYPE: OSD6\_PARAM1\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM2: OSD6\_PARAM2 Parameters ----------------------- .. _OSD6_PARAM2_EN: OSD6\_PARAM2\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_PARAM2_X: OSD6\_PARAM2\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM2_Y: OSD6\_PARAM2\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM2_KEY: OSD6\_PARAM2\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM2_IDX: OSD6\_PARAM2\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM2_GRP: OSD6\_PARAM2\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM2_MIN: OSD6\_PARAM2\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM2_MAX: OSD6\_PARAM2\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM2_INCR: OSD6\_PARAM2\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM2_TYPE: OSD6\_PARAM2\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM3: OSD6\_PARAM3 Parameters ----------------------- .. _OSD6_PARAM3_EN: OSD6\_PARAM3\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_PARAM3_X: OSD6\_PARAM3\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM3_Y: OSD6\_PARAM3\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM3_KEY: OSD6\_PARAM3\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM3_IDX: OSD6\_PARAM3\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM3_GRP: OSD6\_PARAM3\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM3_MIN: OSD6\_PARAM3\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM3_MAX: OSD6\_PARAM3\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM3_INCR: OSD6\_PARAM3\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM3_TYPE: OSD6\_PARAM3\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM4: OSD6\_PARAM4 Parameters ----------------------- .. _OSD6_PARAM4_EN: OSD6\_PARAM4\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_PARAM4_X: OSD6\_PARAM4\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM4_Y: OSD6\_PARAM4\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM4_KEY: OSD6\_PARAM4\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM4_IDX: OSD6\_PARAM4\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM4_GRP: OSD6\_PARAM4\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM4_MIN: OSD6\_PARAM4\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM4_MAX: OSD6\_PARAM4\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM4_INCR: OSD6\_PARAM4\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM4_TYPE: OSD6\_PARAM4\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM5: OSD6\_PARAM5 Parameters ----------------------- .. _OSD6_PARAM5_EN: OSD6\_PARAM5\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_PARAM5_X: OSD6\_PARAM5\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM5_Y: OSD6\_PARAM5\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM5_KEY: OSD6\_PARAM5\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM5_IDX: OSD6\_PARAM5\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM5_GRP: OSD6\_PARAM5\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM5_MIN: OSD6\_PARAM5\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM5_MAX: OSD6\_PARAM5\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM5_INCR: OSD6\_PARAM5\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM5_TYPE: OSD6\_PARAM5\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM6: OSD6\_PARAM6 Parameters ----------------------- .. _OSD6_PARAM6_EN: OSD6\_PARAM6\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_PARAM6_X: OSD6\_PARAM6\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM6_Y: OSD6\_PARAM6\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM6_KEY: OSD6\_PARAM6\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM6_IDX: OSD6\_PARAM6\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM6_GRP: OSD6\_PARAM6\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM6_MIN: OSD6\_PARAM6\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM6_MAX: OSD6\_PARAM6\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM6_INCR: OSD6\_PARAM6\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM6_TYPE: OSD6\_PARAM6\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM7: OSD6\_PARAM7 Parameters ----------------------- .. _OSD6_PARAM7_EN: OSD6\_PARAM7\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_PARAM7_X: OSD6\_PARAM7\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM7_Y: OSD6\_PARAM7\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM7_KEY: OSD6\_PARAM7\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM7_IDX: OSD6\_PARAM7\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM7_GRP: OSD6\_PARAM7\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM7_MIN: OSD6\_PARAM7\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM7_MAX: OSD6\_PARAM7\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM7_INCR: OSD6\_PARAM7\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM7_TYPE: OSD6\_PARAM7\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM8: OSD6\_PARAM8 Parameters ----------------------- .. _OSD6_PARAM8_EN: OSD6\_PARAM8\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_PARAM8_X: OSD6\_PARAM8\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM8_Y: OSD6\_PARAM8\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM8_KEY: OSD6\_PARAM8\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM8_IDX: OSD6\_PARAM8\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM8_GRP: OSD6\_PARAM8\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM8_MIN: OSD6\_PARAM8\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM8_MAX: OSD6\_PARAM8\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM8_INCR: OSD6\_PARAM8\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM8_TYPE: OSD6\_PARAM8\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_OSD6_PARAM9: OSD6\_PARAM9 Parameters ----------------------- .. _OSD6_PARAM9_EN: OSD6\_PARAM9\_EN: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable setting +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _OSD6_PARAM9_X: OSD6\_PARAM9\_X: X position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal position on screen +---------+ | Range | +=========+ | 0 to 29 | +---------+ .. _OSD6_PARAM9_Y: OSD6\_PARAM9\_Y: Y position ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical position on screen +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _OSD6_PARAM9_KEY: OSD6\_PARAM9\_KEY: Parameter key ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Key of the parameter to be displayed and modified .. _OSD6_PARAM9_IDX: OSD6\_PARAM9\_IDX: Parameter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Index of the parameter to be displayed and modified .. _OSD6_PARAM9_GRP: OSD6\_PARAM9\_GRP: Parameter group ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Group of the parameter to be displayed and modified .. _OSD6_PARAM9_MIN: OSD6\_PARAM9\_MIN: Parameter minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum value of the parameter to be displayed and modified .. _OSD6_PARAM9_MAX: OSD6\_PARAM9\_MAX: Parameter maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum of the parameter to be displayed and modified .. _OSD6_PARAM9_INCR: OSD6\_PARAM9\_INCR: Parameter increment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Increment of the parameter to be displayed and modified .. _OSD6_PARAM9_TYPE: OSD6\_PARAM9\_TYPE: Parameter type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Type of the parameter to be displayed and modified .. _parameters_PLND_: PLND\_ Parameters ----------------- .. _PLND_ENABLED: PLND\_ENABLED: Precision Land enabled\/disabled ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Precision Land enabled\/disabled +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _PLND_TYPE: PLND\_TYPE: Precision Land Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Precision Land Type +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | MAVLink | | | +-------+-------------+ | | | 2 | IRLock | | | +-------+-------------+ | | | 3 | SITL_Gazebo | | | +-------+-------------+ | | | 4 | SITL | | | +-------+-------------+ | | | +-------------------------+ .. _PLND_YAW_ALIGN: PLND\_YAW\_ALIGN: Sensor yaw alignment ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw angle from body x\-axis to sensor x\-axis\. +-----------+------------+--------------+ | Increment | Range | Units | +===========+============+==============+ | 10 | 0 to 36000 | centidegrees | +-----------+------------+--------------+ .. _PLND_LAND_OFS_X: PLND\_LAND\_OFS\_X: Land offset forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Desired landing position of the camera forward of the target in vehicle body frame +-----------+-----------+-------------+ | Increment | Range | Units | +===========+===========+=============+ | 1 | -20 to 20 | centimeters | +-----------+-----------+-------------+ .. _PLND_LAND_OFS_Y: PLND\_LAND\_OFS\_Y: Land offset right ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* desired landing position of the camera right of the target in vehicle body frame +-----------+-----------+-------------+ | Increment | Range | Units | +===========+===========+=============+ | 1 | -20 to 20 | centimeters | +-----------+-----------+-------------+ .. _PLND_EST_TYPE: PLND\_EST\_TYPE: Precision Land Estimator Type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Specifies the estimation method to be used +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | RawSensor | | | +-------+--------------+ | | | 1 | KalmanFilter | | | +-------+--------------+ | | | +--------------------------+ .. _PLND_ACC_P_NSE: PLND\_ACC\_P\_NSE: Kalman Filter Accelerometer Noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Kalman Filter Accelerometer Noise\, higher values weight the input from the camera more\, accels less +----------+ | Range | +==========+ | 0.5 to 5 | +----------+ .. _PLND_CAM_POS_X: PLND\_CAM\_POS\_X: Camera X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the camera in body frame\. Positive X is forward of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _PLND_CAM_POS_Y: PLND\_CAM\_POS\_Y: Camera Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the camera in body frame\. Positive Y is to the right of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _PLND_CAM_POS_Z: PLND\_CAM\_POS\_Z: Camera Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the camera in body frame\. Positive Z is down from the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _PLND_BUS: PLND\_BUS: Sensor Bus ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precland sensor bus for I2C sensors\. +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | -1 | DefaultBus | | | +-------+-------------+ | | | 0 | InternalI2C | | | +-------+-------------+ | | | 1 | ExternalI2C | | | +-------+-------------+ | | | +-------------------------+ .. _PLND_LAG: PLND\_LAG: Precision Landing sensor lag ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Precision Landing sensor lag\, to cope with variable landing\_target latency +-----------+---------------+---------+ | Increment | Range | Units | +===========+===============+=========+ | 1 | 0.02 to 0.250 | seconds | +-----------+---------------+---------+ .. _PLND_XY_DIST_MAX: PLND\_XY\_DIST\_MAX: Precision Landing maximum distance to target before descending ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The vehicle will not start descending if the landing target is detected and it is further than this many meters away\. Set 0 to always descend\. +---------+--------+ | Range | Units | +=========+========+ | 0 to 10 | meters | +---------+--------+ .. _PLND_STRICT: PLND\_STRICT: PrecLand strictness ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ How strictly should the vehicle land on the target if target is lost +----------------------------------------------------+ | Values | +====================================================+ | +-------+----------------------------------------+ | | | Value | Meaning | | | +=======+========================================+ | | | 0 | Land Vertically (Not strict) | | | +-------+----------------------------------------+ | | | 1 | Retry Landing(Normal Strictness) | | | +-------+----------------------------------------+ | | | 2 | Do not land (just Hover) (Very Strict) | | | +-------+----------------------------------------+ | | | +----------------------------------------------------+ .. _PLND_RET_MAX: PLND\_RET\_MAX: PrecLand Maximum number of retires for a failed landing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PrecLand Maximum number of retires for a failed landing\. Set to zero to disable landing retry\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 10 | +-----------+---------+ .. _PLND_TIMEOUT: PLND\_TIMEOUT: PrecLand retry timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time for which vehicle continues descend even if target is lost\. After this time period\, vehicle will attempt a landing retry depending on PLND\_STRICT parameter\. +---------+---------+ | Range | Units | +=========+=========+ | 0 to 20 | seconds | +---------+---------+ .. _PLND_RET_BEHAVE: PLND\_RET\_BEHAVE: PrecLand retry behaviour ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Prec Land will do the action selected by this parameter if a retry to a landing is needed +--------------------------------------------------------------------------------+ | Values | +================================================================================+ | +-------+--------------------------------------------------------------------+ | | | Value | Meaning | | | +=======+====================================================================+ | | | 0 | Go to the last location where landing target was detected | | | +-------+--------------------------------------------------------------------+ | | | 1 | Go towards the approximate location of the detected landing target | | | +-------+--------------------------------------------------------------------+ | | | +--------------------------------------------------------------------------------+ .. _PLND_ALT_MIN: PLND\_ALT\_MIN: PrecLand minimum alt for retry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle will continue landing vertically even if target is lost below this height\. This needs a rangefinder to work\. Set to zero to disable this\. +--------+--------+ | Range | Units | +========+========+ | 0 to 5 | meters | +--------+--------+ .. _PLND_ALT_MAX: PLND\_ALT\_MAX: PrecLand maximum alt for retry ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vehicle will continue landing vertically until this height if target is not found\. Below this height if landing target is not found\, landing retry\/failsafe might be attempted\. This needs a rangefinder to work\. Set to zero to disable this\. +---------+--------+ | Range | Units | +=========+========+ | 0 to 50 | meters | +---------+--------+ .. _PLND_OPTIONS: PLND\_OPTIONS: Precision Landing Extra Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Precision Landing Extra Options +-----------------------------------------------------------+ | Bitmask | +===========================================================+ | +-----+-------------------------------------------------+ | | | Bit | Meaning | | | +=====+=================================================+ | | | 0 | Moving Landing Target | | | +-----+-------------------------------------------------+ | | | 1 | Allow Precision Landing after manual reposition | | | +-----+-------------------------------------------------+ | | | 2 | Maintain high speed in final descent | | | +-----+-------------------------------------------------+ | | | +-----------------------------------------------------------+ .. _parameters_PTCH: PTCH Parameters --------------- .. _PTCH2SRV_TCONST: PTCH2SRV\_TCONST: Pitch Time Constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time constant in seconds from demanded to achieved pitch angle\. Most models respond well to 0\.5\. May be reduced for faster responses\, but setting lower than a model can achieve will not help\. +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.1 | 0.4 to 1.0 | seconds | +-----------+------------+---------+ .. _PTCH2SRV_RMAX_UP: PTCH2SRV\_RMAX\_UP: Pitch up max rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the maximum nose up pitch rate that the attitude controller will demand \(degrees\/sec\) in angle stabilized modes\. Setting it to zero disables the limit\. +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 100 | degrees per second | +-----------+----------+--------------------+ .. _PTCH2SRV_RMAX_DN: PTCH2SRV\_RMAX\_DN: Pitch down max rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the maximum nose down pitch rate that the attitude controller will demand \(degrees\/sec\) in angle stabilized modes\. Setting it to zero disables the limit\. +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 100 | degrees per second | +-----------+----------+--------------------+ .. _PTCH2SRV_RLL: PTCH2SRV\_RLL: Roll compensation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Gain added to pitch to keep aircraft from descending or ascending in turns\. Increase in increments of 0\.05 to reduce altitude loss\. Decrease for altitude gain\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.05 | 0.7 to 1.5 | +-----------+------------+ .. _PTCH_RATE_P: PTCH\_RATE\_P: Pitch axis rate controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.005 | 0.08 to 0.35 | +-----------+--------------+ .. _PTCH_RATE_I: PTCH\_RATE\_I: Pitch axis rate controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.01 | 0.01 to 0.6 | +-----------+-------------+ .. _PTCH_RATE_IMAX: PTCH\_RATE\_IMAX: Pitch axis rate controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _PTCH_RATE_D: PTCH\_RATE\_D: Pitch axis rate controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate +-----------+---------------+ | Increment | Range | +===========+===============+ | 0.001 | 0.001 to 0.03 | +-----------+---------------+ .. _PTCH_RATE_FF: PTCH\_RATE\_FF: Pitch axis rate controller feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller feed forward +-----------+----------+ | Increment | Range | +===========+==========+ | 0.001 | 0 to 3.0 | +-----------+----------+ .. _PTCH_RATE_FLTT: PTCH\_RATE\_FLTT: Pitch axis rate controller target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller target frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 2 to 50 | hertz | +-----------+---------+-------+ .. _PTCH_RATE_FLTE: PTCH\_RATE\_FLTE: Pitch axis rate controller error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller error frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 2 to 50 | hertz | +-----------+---------+-------+ .. _PTCH_RATE_FLTD: PTCH\_RATE\_FLTD: Pitch axis rate controller derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller derivative frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _PTCH_RATE_SMAX: PTCH\_RATE\_SMAX: Pitch slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _PTCH_RATE_PDMX: PTCH\_RATE\_PDMX: Pitch axis rate controller PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _PTCH_RATE_D_FF: PTCH\_RATE\_D\_FF: Pitch Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.001 | 0 to 0.03 | +-----------+-----------+ .. _PTCH_RATE_NTF: PTCH\_RATE\_NTF: Pitch Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _PTCH_RATE_NEF: PTCH\_RATE\_NEF: Pitch Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _PTCH2SRV_ACCEL: PTCH2SRV\_ACCEL: Pitch max acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch acceleration limit\. Setting to zero disables input shaping\. +-----------+-----------+---------------------------+ | Increment | Range | Units | +===========+===========+===========================+ | 1 | 0 to 2500 | degrees per square second | +-----------+-----------+---------------------------+ .. _PTCH_ANGLE_P: PTCH\_ANGLE\_P: Pitch angle P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch angle P gain\. If zero a gain of \(1 \/ PTCH2SRV\_TCONST\) will be used\. +-----------+-----------------+ | Increment | Range | +===========+=================+ | 0.01 | 0.000 to 12.000 | +-----------+-----------------+ .. _parameters_PUP_: PUP\_ Parameters ---------------- .. _PUP_ENABLE: PUP\_ENABLE: Enable pullup after altitude wait ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable pullup after altitude wait +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _PUP_ELEV_OFS: PUP\_ELEV\_OFS: Elevator deflection used before starting pullup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Elevator deflection offset from \-1 to 1 while waiting for airspeed to rise before starting close loop control of the pullup\. +-------------+ | Range | +=============+ | -1.0 to 1.0 | +-------------+ .. _PUP_NG_LIM: PUP\_NG\_LIM: Maximum normal load factor during pullup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the nominal maximum value of normal load factor used during the closed loop pitch rate control of the pullup\. +------------+ | Range | +============+ | 1.0 to 4.0 | +------------+ .. _PUP_NG_JERK_LIM: PUP\_NG\_JERK\_LIM: Maximum normal load factor rate of change during pullup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The normal load factor used for closed loop pitch rate control of the pullup will be ramped up to the value set by PUP\_NG\_LIM at the rate of change set by this parameter\. The parameter value specified will be scaled internally by 1\/EAS2TAS\. +-------------+------------+ | Range | Units | +=============+============+ | 0.1 to 10.0 | per second | +-------------+------------+ .. _PUP_PITCH: PUP\_PITCH: Target pitch angle during pullup ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The vehicle will attempt achieve this pitch angle during the pull\-up maneouvre\. +----------+---------+ | Range | Units | +==========+=========+ | -5 to 15 | degrees | +----------+---------+ .. _PUP_ARSPD_START: PUP\_ARSPD\_START: Pullup target airspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Target airspeed for initial airspeed wait +----------+-------------------+ | Range | Units | +==========+===================+ | 0 to 100 | meters per second | +----------+-------------------+ .. _PUP_PITCH_START: PUP\_PITCH\_START: Pullup target pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Target pitch for initial pullup +----------+---------+ | Range | Units | +==========+=========+ | -80 to 0 | degrees | +----------+---------+ .. _parameters_QWIK_: QWIK\_ Parameters ----------------- .. _QWIK_ENABLE: QWIK\_ENABLE: Quicktune enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable quicktune system +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _QWIK_AXES: QWIK\_AXES: Quicktune axes ~~~~~~~~~~~~~~~~~~~~~~~~~~ Axes to tune +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 0 | Roll | | | +-----+---------+ | | | 1 | Pitch | | | +-----+---------+ | | | 2 | Yaw | | | +-----+---------+ | | | +-------------------+ .. _QWIK_DOUBLE_TIME: QWIK\_DOUBLE\_TIME: Quicktune doubling time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time to double a tuning parameter\. Raise this for a slower tune\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 20 | seconds | +---------+---------+ .. _QWIK_GAIN_MARGIN: QWIK\_GAIN\_MARGIN: Quicktune gain margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune +----------+---------+ | Range | Units | +==========+=========+ | 20 to 80 | percent | +----------+---------+ .. _QWIK_OSC_SMAX: QWIK\_OSC\_SMAX: Quicktune oscillation rate threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. +---------+ | Range | +=========+ | 1 to 10 | +---------+ .. _QWIK_YAW_P_MAX: QWIK\_YAW\_P\_MAX: Quicktune Yaw P max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum value for yaw P gain +----------+ | Range | +==========+ | 0.1 to 3 | +----------+ .. _QWIK_YAW_D_MAX: QWIK\_YAW\_D\_MAX: Quicktune Yaw D max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum value for yaw D gain +------------+ | Range | +============+ | 0.001 to 1 | +------------+ .. _QWIK_RP_PI_RATIO: QWIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain +------------+ | Range | +============+ | 1.0 to 2.0 | +------------+ .. _QWIK_Y_PI_RATIO: QWIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ratio between P and I gains for yaw\. Raise this to get a lower I gain +-----------+ | Range | +===========+ | 1.0 to 20 | +-----------+ .. _QWIK_AUTO_FILTER: QWIK\_AUTO\_FILTER: Quicktune auto filter enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _QWIK_AUTO_SAVE: QWIK\_AUTO\_SAVE: Quicktune auto save ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune\. Zero \(the default value\) disables automatic saving\, and you will need to have a 3 position switch to save or use GCS auxilliary functions\. +---------+ | Units | +=========+ | seconds | +---------+ .. _QWIK_REDUCE_MAX: QWIK\_REDUCE\_MAX: Quicktune maximum gain reduction ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. +----------+---------+ | Range | Units | +==========+=========+ | 0 to 100 | percent | +----------+---------+ .. _QWIK_OPTIONS: QWIK\_OPTIONS: Quicktune options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. +--------------------------------+ | Bitmask | +================================+ | +-----+----------------------+ | | | Bit | Meaning | | | +=====+======================+ | | | 0 | UseTwoPositionSwitch | | | +-----+----------------------+ | | | +--------------------------------+ .. _QWIK_ANGLE_MAX: QWIK\_ANGLE\_MAX: maximum angle error for tune abort ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing\. If you get an error \"Quicktune\: attitude error ABORTING\" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK\_DOUBLE\_TIME to do the tune more slowly\. +---------+ | Units | +=========+ | degrees | +---------+ .. _parameters_Q_: Q\_ Parameters -------------- .. _Q_ENABLE: Q\_ENABLE: Enable QuadPlane ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This enables QuadPlane functionality\, assuming multicopter motors start on output 5\. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode\. +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | Disable | | | +-------+------------------+ | | | 1 | Enable | | | +-------+------------------+ | | | 2 | Enable VTOL AUTO | | | +-------+------------------+ | | | +------------------------------+ .. _Q_TRANSITION_MS: Q\_TRANSITION\_MS: Transition time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Transition time in milliseconds after minimum airspeed is reached +--------------+--------------+ | Range | Units | +==============+==============+ | 500 to 30000 | milliseconds | +--------------+--------------+ .. _Q_PILOT_SPD_UP: Q\_PILOT\_SPD\_UP: Pilot maximum vertical speed up ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum ascending vertical velocity the pilot may request in m\/s +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 0.1 | 0.5 to 5 | meters per second | +-----------+----------+-------------------+ .. _Q_PILOT_SPD_DN: Q\_PILOT\_SPD\_DN: Pilot maximum vertical speed down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum vertical velocity the pilot may request in m\/s going down\. If 0\, uses Q\_PILOT\_SPD\_UP value\. +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 0.1 | 0.5 to 5 | meters per second | +-----------+----------+-------------------+ .. _Q_PILOT_ACCEL_Z: Q\_PILOT\_ACCEL\_Z: Pilot vertical acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The vertical acceleration used when pilot is controlling the altitude +-----------+----------+--------------------------+ | Increment | Range | Units | +===========+==========+==========================+ | 0.1 | 0.5 to 5 | meters per square second | +-----------+----------+--------------------------+ .. _Q_RC_SPEED: Q\_RC\_SPEED: RC output speed in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the PWM refresh rate in Hz for QuadPlane quad motors +-----------+-----------+-------+ | Increment | Range | Units | +===========+===========+=======+ | 10 | 50 to 500 | hertz | +-----------+-----------+-------+ .. _Q_ASSIST_SPEED: Q\_ASSIST\_SPEED: Quadplane assistance speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes\. The default value of 0 disables assistance but will generate a pre\-arm failure to encourage users to set this parameter to \-1\, or a positive\, non\-zero value\. If this is set to \-1 then all Q\_ASSIST features are disabled except during transitions\. A high non\-zero\,positive value will lead to more false positives which can waste battery\. A lower value will result in less false positive\, but will result in assistance taking longer to trigger\. If unsure then set to 3 m\/s below the minimum airspeed you will fly at\. If you don\'t have an airspeed sensor then use 5 m\/s below the minimum airspeed you fly at\. +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 0.1 | 0 to 100 | meters per second | +-----------+----------+-------------------+ .. _Q_YAW_RATE_MAX: Q\_YAW\_RATE\_MAX: Maximum yaw rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the maximum yaw rate for pilot input on rudder stick in degrees\/second and weathervaning is limited to half of this value +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 50 to 500 | degrees per second | +-----------+-----------+--------------------+ .. _Q_LAND_FINAL_SPD: Q\_LAND\_FINAL\_SPD: Land final speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The descent speed for the final stage of landing in m\/s +-----------+----------+-------------------+ | Increment | Range | Units | +===========+==========+===================+ | 0.1 | 0.3 to 2 | meters per second | +-----------+----------+-------------------+ .. _Q_LAND_FINAL_ALT: Q\_LAND\_FINAL\_ALT: Land final altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The altitude at which we should switch to Q\_LAND\_FINAL\_SPD descent rate +-----------+-----------+--------+ | Increment | Range | Units | +===========+===========+========+ | 0.1 | 0.5 to 50 | meters | +-----------+-----------+--------+ .. _Q_TRAN_PIT_MAX: Q\_TRAN\_PIT\_MAX: Transition max pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum pitch during transition to auto fixed wing flight +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 30 | degrees | +-----------+---------+---------+ .. _Q_FRAME_CLASS: Q\_FRAME\_CLASS: Frame Class ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Controls major frame class for multicopter component +--------------------------------------+ | Values | +======================================+ | +-------+--------------------------+ | | | Value | Meaning | | | +=======+==========================+ | | | 0 | Undefined | | | +-------+--------------------------+ | | | 1 | Quad | | | +-------+--------------------------+ | | | 2 | Hexa | | | +-------+--------------------------+ | | | 3 | Octa | | | +-------+--------------------------+ | | | 4 | OctaQuad | | | +-------+--------------------------+ | | | 5 | Y6 | | | +-------+--------------------------+ | | | 7 | Tri | | | +-------+--------------------------+ | | | 10 | Single/Dual | | | +-------+--------------------------+ | | | 12 | DodecaHexa | | | +-------+--------------------------+ | | | 14 | Deca | | | +-------+--------------------------+ | | | 15 | Scripting Matrix | | | +-------+--------------------------+ | | | 17 | Dynamic Scripting Matrix | | | +-------+--------------------------+ | | | +--------------------------------------+ .. _Q_FRAME_TYPE: Q\_FRAME\_TYPE: Frame Type \(\+\, X or V\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Controls motor mixing for multicopter component +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | 0 | Plus | | | +-------+---------------------------+ | | | 1 | X | | | +-------+---------------------------+ | | | 2 | V | | | +-------+---------------------------+ | | | 3 | H | | | +-------+---------------------------+ | | | 4 | V-Tail | | | +-------+---------------------------+ | | | 5 | A-Tail | | | +-------+---------------------------+ | | | 10 | Y6B | | | +-------+---------------------------+ | | | 11 | Y6F | | | +-------+---------------------------+ | | | 12 | BetaFlightX | | | +-------+---------------------------+ | | | 13 | DJIX | | | +-------+---------------------------+ | | | 14 | ClockwiseX | | | +-------+---------------------------+ | | | 15 | I | | | +-------+---------------------------+ | | | 16 | MOTOR_FRAME_TYPE_NYT_PLUS | | | +-------+---------------------------+ | | | 17 | MOTOR_FRAME_TYPE_NYT_X | | | +-------+---------------------------+ | | | 18 | BetaFlightXReversed | | | +-------+---------------------------+ | | | 19 | Y4 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _Q_VFWD_GAIN: Q\_VFWD\_GAIN: Forward velocity hold gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The use of this parameter is no longer recommended and has been superseded by a method that works in all VTOL modes with the exception of QAUTOTUNE which is controlled by the Q\_FWD\_THR\_USE parameter\. This Q\_VFD\_GAIN parameter controls use of the forward motor in VTOL modes that use the velocity controller\. Set to 0 to disable this function\. A value of 0\.05 is a good place to start if you want to use the forward motor for position control\. No forward motor will be used in QSTABILIZE or QHOVER modes\. Use with QLOITER for position hold with the forward motor\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.01 | 0 to 0.5 | +-----------+----------+ .. _Q_RTL_ALT: Q\_RTL\_ALT: QRTL return altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The altitude which QRTL mode heads to initially +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 1 to 200 | meters | +-----------+----------+--------+ .. _Q_RTL_MODE: Q\_RTL\_MODE: VTOL RTL mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~ If this is set to 1 then an RTL will change to QRTL when within RTL\_RADIUS meters of the RTL destination\, VTOL approach\: vehicle will RTL at RTL alt and circle with a radius of Q\_FW\_LND\_APR\_RAD down to Q\_RTL\_ALT and then transition into the wind and QRTL\, see \'AUTO VTOL Landing\'\, QRTL Always\: do a QRTL instead of RTL +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | Value | Meaning | | | +=======+===============+ | | | 0 | Disabled | | | +-------+---------------+ | | | 1 | Enabled | | | +-------+---------------+ | | | 2 | VTOL approach | | | +-------+---------------+ | | | 3 | QRTL Always | | | +-------+---------------+ | | | +---------------------------+ .. _Q_GUIDED_MODE: Q\_GUIDED\_MODE: Enable VTOL in GUIDED mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This enables use of VTOL in guided mode\. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _Q_ESC_CAL: Q\_ESC\_CAL: ESC Calibration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is used to calibrate the throttle range of the VTOL motors\. Please read https\:\/\/ardupilot\.org\/plane\/docs\/quadplane\-esc\-calibration\.html before using\. This parameter is automatically set back to 0 on every boot\. This parameter only takes effect in QSTABILIZE mode\. When set to 1 the output of all motors will come directly from the throttle stick when armed\, and will be zero when disarmed\. When set to 2 the output of all motors will be maximum when armed and zero when disarmed\. Make sure you remove all properllers before using\. +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | Value | Meaning | | | +=======+===============+ | | | 0 | Disabled | | | +-------+---------------+ | | | 1 | ThrottleInput | | | +-------+---------------+ | | | 2 | FullInput | | | +-------+---------------+ | | | +---------------------------+ .. _Q_VFWD_ALT: Q\_VFWD\_ALT: Forward velocity alt cutoff ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Controls altitude to disable forward velocity assist when below this relative altitude\. This is useful to keep the forward velocity propeller from hitting the ground\. Rangefinder height data is incorporated when available\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.25 | 0 to 10 | meters | +-----------+---------+--------+ .. _Q_LAND_ICE_CUT: Q\_LAND\_ICE\_CUT: Cut IC engine on landing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls stopping an internal combustion engine in the final landing stage of a VTOL\. This is important for aircraft where the forward thrust engine may experience prop\-strike if left running during landing\. This requires the engine controls are enabled using the ICE\_\* parameters\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _Q_ASSIST_ANGLE: Q\_ASSIST\_ANGLE: Quadplane assistance angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance\. This will only be used if Q\_ASSIST\_SPEED is also positive and non\-zero\. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least Q\_ASSIST\_DELAY seconds\. Set to zero to disable angle assistance\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 90 | degrees | +-----------+---------+---------+ .. _Q_ASSIST_OPTIONS: Q\_ASSIST\_OPTIONS: Quadplane assistance options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options for special QAssist features +--------------------------------------------------------+ | Bitmask | +========================================================+ | +-----+----------------------------------------------+ | | | Bit | Meaning | | | +=====+==============================================+ | | | 0 | Disable force fixed wing controller recovery | | | +-----+----------------------------------------------+ | | | 1 | Disable quadplane spin recovery | | | +-----+----------------------------------------------+ | | | +--------------------------------------------------------+ .. _Q_MAV_TYPE: Q\_MAV\_TYPE: MAVLink type identifier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls the mavlink type given in HEARTBEAT messages\. For some GCS types a particular setting will be needed for correct operation\. +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | Value | Meaning | | | +=======+================+ | | | 0 | AUTO | | | +-------+----------------+ | | | 1 | FIXED_WING | | | +-------+----------------+ | | | 2 | QUADROTOR | | | +-------+----------------+ | | | 3 | COAXIAL | | | +-------+----------------+ | | | 4 | HELICOPTER | | | +-------+----------------+ | | | 7 | AIRSHIP | | | +-------+----------------+ | | | 8 | FREE_BALLOON | | | +-------+----------------+ | | | 9 | ROCKET | | | +-------+----------------+ | | | 10 | GROUND_ROVER | | | +-------+----------------+ | | | 11 | SURFACE_BOAT | | | +-------+----------------+ | | | 12 | SUBMARINE | | | +-------+----------------+ | | | 16 | FLAPPING_WING | | | +-------+----------------+ | | | 17 | KITE | | | +-------+----------------+ | | | 19 | VTOL_DUOROTOR | | | +-------+----------------+ | | | 20 | VTOL_QUADROTOR | | | +-------+----------------+ | | | 21 | VTOL_TILTROTOR | | | +-------+----------------+ | | | +----------------------------+ .. _Q_OPTIONS: Q\_OPTIONS: quadplane options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ See description for each bitmask bit description +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Bitmask | +=======================================================================================================================================================================+ | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+=============================================================================================================================================================+ | | | 0 | Level Transition-keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 1 | Allow FW Takeoff-if bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 2 | Allow FW Land-if bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 3 | Vtol Takeoff Frame-command NAV_VTOL_TAKEOFF alt set by the command's reference frame not above current location | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 4 | Always use FW spiral approach-always use Use a fixed wing spiral approach for VTOL landings | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 5 | USE QRTL-instead of QLAND for rc failsafe when in VTOL modes | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 6 | Use Governor-use ICE Idle Governor in MANUAL for forward motor | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 7 | Force Qassist-on always | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 8 | Mtrs_Only_Qassist-in tailsitters only uses VTOL motors and not flying surfaces for QASSIST | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 10 | Disarmed Yaw Tilt-enable motor tilt for yaw when disarmed | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 11 | Delay Spoolup-delay VTOL spoolup for 2 seconds after arming | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 12 | Disable speed based Qassist when using synthetic airspeed estimates | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 13 | Disable Ground Effect Compensation-on baro altitude reports | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 14 | Ignore forward flight angle limits-in Qmodes and use Q_A_ANGLE_MAX exclusively | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 15 | ThrLandControl-enable throttle stick control of landing rate | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 16 | DisableApproach-disable use of approach and airbrake stages in VTOL landing | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 17 | EnableLandResposition-enable pilot controlled repositioning in AUTO land.Descent will pause while repositioning | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 18 | ARMVTOL-arm only in VTOL modes (or AUTO mode when current nav cmd is VTOL Takeoff) | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 19 | CompleteTransition-to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 20 | Force RTL mode-forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL) | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 21 | Tilt rotor-tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes. | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | 22 | Scale FF by the ratio of VTOL to plane angle P gains in Position 1 phase of transition into VTOL flight as well as reducing VTOL angle P based on airspeed. | | | +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------+ .. _Q_TRANS_DECEL: Q\_TRANS\_DECEL: Transition deceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight\. +-----------+----------+--------------------------+ | Increment | Range | Units | +===========+==========+==========================+ | 0.1 | 0.2 to 5 | meters per square second | +-----------+----------+--------------------------+ .. _Q_TRIM_PITCH: Q\_TRIM\_PITCH: Quadplane AHRS trim pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch\. NOTE\! this is relative to calibrated AHRS trim\, not forward flight trim which includes PTCH\_TRIM\_DEG\. For tailsitters\, this is relative to a baseline of 90 degrees in AHRS\. +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.1 | -10 to +10 | degrees | +-----------+------------+---------+ .. _Q_FW_LND_APR_RAD: Q\_FW\_LND\_APR\_RAD: Quadplane fixed wing landing approach radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This provides the radius used\, when using a fixed wing landing approach\. If set to 0 then the WP\_LOITER\_RAD will be selected\. +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 5 | 0 to 200 | meters | +-----------+----------+--------+ .. _Q_TRANS_FAIL: Q\_TRANS\_FAIL: Quadplane transition failure time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum time allowed for forward transitions\, exceeding this time will cancel the transition and the aircraft will immediately change to the mode set by Q\_TRANS\_FAIL\_ACT or finish the transition depending on Q\_OPTIONS bit 19\. 0 for no limit\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 20 | seconds | +-----------+---------+---------+ .. _Q_THROTTLE_EXPO: Q\_THROTTLE\_EXPO: Throttle expo strength ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Amount of curvature in throttle curve\: 0 is linear\, 1 is cubic +-----------+--------+ | Increment | Range | +===========+========+ | 0.1 | 0 to 1 | +-----------+--------+ .. _Q_ACRO_RLL_RATE: Q\_ACRO\_RLL\_RATE: QACRO mode roll rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum roll rate at full stick deflection in QACRO mode +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 10 to 500 | degrees per second | +-----------+-----------+--------------------+ .. _Q_ACRO_PIT_RATE: Q\_ACRO\_PIT\_RATE: QACRO mode pitch rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum pitch rate at full stick deflection in QACRO mode +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 10 to 500 | degrees per second | +-----------+-----------+--------------------+ .. _Q_ACRO_YAW_RATE: Q\_ACRO\_YAW\_RATE: QACRO mode yaw rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum yaw rate at full stick deflection in QACRO mode +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 10 to 500 | degrees per second | +-----------+-----------+--------------------+ .. _Q_TKOFF_FAIL_SCL: Q\_TKOFF\_FAIL\_SCL: Takeoff time failure scalar ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Scalar for how long past the expected takeoff time a takeoff should be considered as failed and the vehicle will switch to QLAND\. If set to 0 there is no limit on takeoff time\. +-----------+------------+ | Increment | Range | +===========+============+ | 5.1 | 1.1 to 5.0 | +-----------+------------+ .. _Q_TKOFF_ARSP_LIM: Q\_TKOFF\_ARSP\_LIM: Takeoff airspeed limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Airspeed limit during takeoff\. If the airspeed exceeds this level the vehicle will switch to QLAND\. This is useful for ensuring that you don\'t takeoff into excessively strong wind\. If set to 0 there is no limit on airspeed during takeoff\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 1 | 0 to 20 | meters per second | +-----------+---------+-------------------+ .. _Q_ASSIST_ALT: Q\_ASSIST\_ALT: Quadplane assistance altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the altitude below which quadplane assistance will be triggered\. This acts the same way as Q\_ASSIST\_ANGLE and Q\_ASSIST\_SPEED\, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running\. A value of zero disables this feature\. The altitude is calculated as being above ground level\. The height above ground is given from a Lidar used if available and RNGFND\_LANDING\=1\. Otherwise it comes from terrain data if TERRAIN\_FOLLOW\=1 and comes from height above home otherwise\. +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 0 to 120 | meters | +-----------+----------+--------+ .. _Q_ASSIST_DELAY: Q\_ASSIST\_DELAY: Quadplane assistance delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is delay between the assistance thresholds being met and the assistance starting\. +-----------+--------+---------+ | Increment | Range | Units | +===========+========+=========+ | 0.1 | 0 to 2 | seconds | +-----------+--------+---------+ .. _Q_FWD_MANTHR_MAX: Q\_FWD\_MANTHR\_MAX: VTOL manual forward throttle max percent ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum value for manual forward throttle\; used with RC option FWD\_THR \(209\) +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _Q_BACKTRANS_MS: Q\_BACKTRANS\_MS: SLT and Tiltrotor back transition pitch limit duration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch angle will increase from 0 to angle max over this duration when switching into VTOL flight in a position control mode\. 0 Disables\. +------------+--------------+ | Range | Units | +============+==============+ | 0 to 10000 | milliseconds | +------------+--------------+ .. _Q_TRANS_FAIL_ACT: Q\_TRANS\_FAIL\_ACT: Quadplane transition failure action ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the mode that is changed to when Q\_TRANS\_FAIL time elapses\, if set\. See also Q\_OPTIONS bit 19\: CompleteTransition if Q\_TRANS\_FAIL +-----------------------+ | Values | +=======================+ | +-------+-----------+ | | | Value | Meaning | | | +=======+===========+ | | | -1 | Warn only | | | +-------+-----------+ | | | 0 | QLand | | | +-------+-----------+ | | | 1 | QRTL | | | +-------+-----------+ | | | +-----------------------+ .. _Q_LAND_ALTCHG: Q\_LAND\_ALTCHG: Land detection altitude change threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum altitude change allowed during land detection\. You can raise this value if you find that landing detection takes a long time to complete\. It is the maximum change in altitude over a period of 4 seconds for landing to be detected +-----------+------------+--------+ | Increment | Range | Units | +===========+============+========+ | 0.05 | 0.1 to 0.6 | meters | +-----------+------------+--------+ .. _Q_NAVALT_MIN: Q\_NAVALT\_MIN: Minimum navigation altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the altitude in meters above which navigation begins in auto takeoff\. Below this altitude the target roll and pitch will be zero\. A value of zero disables the feature +--------+--------+ | Range | Units | +========+========+ | 0 to 5 | meters | +--------+--------+ .. _Q_PLT_Y_RATE: Q\_PLT\_Y\_RATE: Pilot controlled yaw rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pilot controlled yaw rate max\. Used in all pilot controlled modes except QAcro +----------+--------------------+ | Range | Units | +==========+====================+ | 1 to 360 | degrees per second | +----------+--------------------+ .. _Q_PLT_Y_EXPO: Q\_PLT\_Y\_EXPO: Pilot controlled yaw expo ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pilot controlled yaw expo to allow faster rotation when stick at edges +-------------+-----------------------+ | Range | Values | +=============+=======================+ | -0.5 to 1.0 | +-------+-----------+ | | | | Value | Meaning | | | | +=======+===========+ | | | | 0 | Disabled | | | | +-------+-----------+ | | | | 0.1 | Very Low | | | | +-------+-----------+ | | | | 0.2 | Low | | | | +-------+-----------+ | | | | 0.3 | Medium | | | | +-------+-----------+ | | | | 0.4 | High | | | | +-------+-----------+ | | | | 0.5 | Very High | | | | +-------+-----------+ | | | | +-------------+-----------------------+ .. _Q_PLT_Y_RATE_TC: Q\_PLT\_Y\_RATE\_TC: Pilot yaw rate control input time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pilot yaw rate control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response\. +-----------+--------+---------+------------------------+ | Increment | Range | Units | Values | +===========+========+=========+========================+ | 0.01 | 0 to 1 | seconds | +-------+------------+ | | | | | | Value | Meaning | | | | | | +=======+============+ | | | | | | 0.5 | Very Soft | | | | | | +-------+------------+ | | | | | | 0.2 | Soft | | | | | | +-------+------------+ | | | | | | 0.15 | Medium | | | | | | +-------+------------+ | | | | | | 0.1 | Crisp | | | | | | +-------+------------+ | | | | | | 0.05 | Very Crisp | | | | | | +-------+------------+ | | | | | | +-----------+--------+---------+------------------------+ .. _Q_RTL_ALT_MIN: Q\_RTL\_ALT\_MIN: QRTL minimum altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ If VTOL motors are active QRTL mode will VTOL climb to at least this altitude before returning home\. If outside 150\% the larger of WP\_LOITER\_RAD and RTL\_RADIUS the vehicle will VTOL climb to Q\_RTL\_ALT\. This parameter has no effect if the vehicle is in forward flight\. Should be between Q\_LAND\_FINAL\_ALT and Q\_RTL\_ALT +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 1 to 200 | meters | +-----------+----------+--------+ .. _Q_FWD_THR_GAIN: Q\_FWD\_THR\_GAIN: Q mode fwd throttle gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter sets the gain from forward accel\/tilt to forward throttle in certain Q modes\. The Q modes this feature operates in is controlled by the Q\_FWD\_THR\_USE parameter\. Vehicles using separate forward thrust motors\, eg quadplanes\, should set this parameter to \(all up weight\) \/ \(maximum combined thrust of forward motors\) with a value of 2 being typical\. Vehicles that tilt lifting rotors to provide forward thrust should set this parameter to \(all up weight\) \/ \(weight lifted by tilting rotors\) which for most aircraft can be approximated as \(total number of lifting rotors\) \/ \(number of lifting rotors that tilt\)\. When using this method of forward throttle control\, the forward tilt angle limit is controlled by the Q\_FWD\_PIT\_LIM parameter\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.0 to 5.0 | +-----------+------------+ .. _Q_FWD_PIT_LIM: Q\_FWD\_PIT\_LIM: Q mode forward pitch limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When forward throttle is being controlled by the Q\_FWD\_THR\_GAIN parameter in Q modes\, the vehicle forward \(nose down\) pitch rotation will be limited to the value specified by this parameter and the any additional forward acceleration required will be produced by use of the forward thrust motor\(s\) or tilting of moveable rotors\. Larger values allow the vehicle to pitch more nose down\. Set initially to the amount of nose down pitch required to remove wing lift\. +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.1 | 0.0 to 5.0 | degrees | +-----------+------------+---------+ .. _Q_FWD_THR_USE: Q\_FWD\_THR\_USE: Q mode forward throttle use ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This parameter determines when the feature that uses forward throttle instead of forward tilt is used\. The amount of forward throttle is controlled by the Q\_FWD\_THR\_GAIN parameter\. The maximum amount of forward pitch allowed is controlled by the Q\_FWD\_PIT\_LIM parameter\. Q\_FWD\_THR\_USE \= 0 disables the feature\. Q\_FWD\_THR\_USE \= 1 enables the feature in all position controlled modes such as QLOITER\, QLAND\, QRTL and VTOL TAKEOFF\. Q\_FWD\_THR\_USE \= 2 enables the feature in all Q modes except QAUTOTUNE and QACRO\. When enabling the feature\, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q\_VFWD\_GAIN to 0\. Do not use this feature with tailsitters\. +----------------------------------------------------------+ | Values | +==========================================================+ | +-------+----------------------------------------------+ | | | Value | Meaning | | | +=======+==============================================+ | | | 0 | Off | | | +-------+----------------------------------------------+ | | | 1 | On in all position controlled Q modes | | | +-------+----------------------------------------------+ | | | 2 | On in all Q modes except QAUTOTUNE and QACRO | | | +-------+----------------------------------------------+ | | | +----------------------------------------------------------+ .. _Q_BCK_PIT_LIM: Q\_BCK\_PIT\_LIM: Q mode rearward pitch limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED\_MIN\, and is used to prevent excessive sutructural loads when pitching up decelerate\. If airspeed is above or below AIRSPEED\_MIN\, the pitch up\/back will be adjusted according to the formula pitch\_limit \= Q\_BCK\_PIT\_LIM \* \(AIRSPEED\_MIN \/ IAS\)\^2\. The backwards\/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH\_LIM\_MAX\_DEG and Q\_A\_ANGLE\_MAX\. The BCK\_PIT\_LIM limit is only applied when Q\_FWD\_THR\_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed\. Set to a non positive value 0 to deactivate this limit\. +-----------+-------------+---------+ | Increment | Range | Units | +===========+=============+=========+ | 0.1 | 0.0 to 15.0 | degrees | +-----------+-------------+---------+ .. _Q_APPROACH_DIST: Q\_APPROACH\_DIST: Q mode approach distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The minimum distance from the destination to use the fixed wing airbrake and approach code for landing approach\. This is useful if you don\'t want the fixed wing approach logic to be used when you are close to the destination\. Set to zero to always use fixed wing approach\. +-----------+-------------+--------+ | Increment | Range | Units | +===========+=============+========+ | 1 | 0.0 to 1000 | meters | +-----------+-------------+--------+ .. _Q_TKOFF_RPM_MIN: Q\_TKOFF\_RPM\_MIN: Auto Takeoff Check RPM minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auto takeoff \(in Auto or Guided\) is not permitted until motors report at least this RPM\. Set to zero to disable check \(which also disables Q\_TKOFF\_RPM\_MAX\)\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _Q_TKOFF_RPM_MAX: Q\_TKOFF\_RPM\_MAX: Auto Takeoff Check RPM maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Auto takeoff \(in Auto or Guided\) is not permitted until motors report no more than this RPM\. Set to zero to disable check\. Q\_TKOFF\_RPM\_MIN must also be set to a non\-zero value to enable this check\. +------------+ | Range | +============+ | 0 to 10000 | +------------+ .. _Q_THRST_LOSS_OPT: Q\_THRST\_LOSS\_OPT: VTOL thrust loss detection options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Configuration for thrust loss detection detection\, this results in \"Potential VTOL Thrust Loss\" warnings\. This detection also allows the motor mixer to ignore the failed motor allowing better use of the remaining motors\. +--------------------------------------------------------------------------------------------------------------------------------+ | Bitmask | +================================================================================================================================+ | +-----+----------------------------------------------------------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+======================================================================================================================+ | | | 0 | Disable thrust loss detection. | | | +-----+----------------------------------------------------------------------------------------------------------------------+ | | | 1 | Disable thrust loss detection in transtions and fixed wing modes. Thrust loss detection will only run in VTOL modes. | | | +-----+----------------------------------------------------------------------------------------------------------------------+ | | | +--------------------------------------------------------------------------------------------------------------------------------+ .. _Q_RTL_PAUSE_TIME: Q\_RTL\_PAUSE\_TIME: Q RTL pause time\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time \(in seconds\) to pause in a VTOL loiter above landing point before starting final descent\. Zero disables\. This applies in VTOL landing in auto mode and QRTL mode\. +---------+---------+ | Range | Units | +=========+=========+ | 0 to 10 | seconds | +---------+---------+ .. _parameters_Q_AUTOTUNE_: Q\_AUTOTUNE\_ Parameters ------------------------ .. _Q_AUTOTUNE_AXES: Q\_AUTOTUNE\_AXES: Autotune axis bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1\-byte bitmap of axes to autotune +-------------------+ | Bitmask | +===================+ | +-----+---------+ | | | Bit | Meaning | | | +=====+=========+ | | | 0 | Roll | | | +-----+---------+ | | | 1 | Pitch | | | +-----+---------+ | | | 2 | Yaw | | | +-----+---------+ | | | 3 | YawD | | | +-----+---------+ | | | +-------------------+ .. _Q_AUTOTUNE_AGGR: Q\_AUTOTUNE\_AGGR: Autotune aggressiveness ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Autotune aggressiveness\. Defines the bounce back used to detect size of the D term\. +--------------+ | Range | +==============+ | 0.05 to 0.10 | +--------------+ .. _Q_AUTOTUNE_MIN_D: Q\_AUTOTUNE\_MIN\_D: AutoTune minimum D ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines the minimum D gain +-----------------+ | Range | +=================+ | 0.0001 to 0.005 | +-----------------+ .. _Q_AUTOTUNE_GMBK: Q\_AUTOTUNE\_GMBK: AutoTune Gain Margin Backoff ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Fraction by which tuned P and D gains are reduced after rate and angle AutoTune steps complete\. This provides extra stability margin by reducing gains slightly from the optimal values found during tuning\. A value of 0\.0 applies no reduction\. A value of 0\.25 reduces tuned gains by 25\%\. +------------+ | Range | +============+ | 0.0 to 0.5 | +------------+ .. _parameters_Q_A_: Q\_A\_ Parameters ----------------- .. _Q_A_RATE_FF_ENAB: Q\_A\_RATE\_FF\_ENAB: Rate Feedforward Enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Controls whether body\-frame rate feedforward is enabled or disabled +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _Q_A_ANGLE_BOOST: Q\_A\_ANGLE\_BOOST: Angle Boost ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _Q_A_ANG_RLL_P: Q\_A\_ANG\_RLL\_P: Roll axis angle controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis angle controller P gain\. Converts the error between the desired roll angle and actual angle to a desired roll rate +-----------+-----------------+ | Increment | Range | +===========+=================+ | 0.01 | 3.000 to 12.000 | +-----------+-----------------+ .. _Q_A_ANG_PIT_P: Q\_A\_ANG\_PIT\_P: Pitch axis angle controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis angle controller P gain\. Converts the error between the desired pitch angle and actual angle to a desired pitch rate +-----------+-----------------+ | Increment | Range | +===========+=================+ | 0.01 | 3.000 to 12.000 | +-----------+-----------------+ .. _Q_A_ANG_YAW_P: Q\_A\_ANG\_YAW\_P: Yaw axis angle controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis angle controller P gain\. Converts the error between the desired yaw angle and actual angle to a desired yaw rate +-----------+-----------------+ | Increment | Range | +===========+=================+ | 0.01 | 3.000 to 12.000 | +-----------+-----------------+ .. _Q_A_ANG_LIM_TC: Q\_A\_ANG\_LIM\_TC: Angle Limit \(to maintain altitude\) Time Constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Angle Limit \(to maintain altitude\) Time Constant +-------------+ | Range | +=============+ | 0.5 to 10.0 | +-------------+ .. _Q_A_RATE_R_MAX: Q\_A\_RATE\_R\_MAX: Angular Velocity Max for Roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum angular velocity in roll axis +-----------+-----------+--------------------+----------------------+ | Increment | Range | Units | Values | +===========+===========+====================+======================+ | 1 | 0 to 1080 | degrees per second | +-------+----------+ | | | | | | Value | Meaning | | | | | | +=======+==========+ | | | | | | 0 | Disabled | | | | | | +-------+----------+ | | | | | | 60 | Slow | | | | | | +-------+----------+ | | | | | | 180 | Medium | | | | | | +-------+----------+ | | | | | | 360 | Fast | | | | | | +-------+----------+ | | | | | | +-----------+-----------+--------------------+----------------------+ .. _Q_A_RATE_P_MAX: Q\_A\_RATE\_P\_MAX: Angular Velocity Max for Pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum angular velocity in pitch axis +-----------+-----------+--------------------+----------------------+ | Increment | Range | Units | Values | +===========+===========+====================+======================+ | 1 | 0 to 1080 | degrees per second | +-------+----------+ | | | | | | Value | Meaning | | | | | | +=======+==========+ | | | | | | 0 | Disabled | | | | | | +-------+----------+ | | | | | | 60 | Slow | | | | | | +-------+----------+ | | | | | | 180 | Medium | | | | | | +-------+----------+ | | | | | | 360 | Fast | | | | | | +-------+----------+ | | | | | | +-----------+-----------+--------------------+----------------------+ .. _Q_A_RATE_Y_MAX: Q\_A\_RATE\_Y\_MAX: Angular Velocity Max for Yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum angular velocity in yaw axis +-----------+-----------+--------------------+----------------------+ | Increment | Range | Units | Values | +===========+===========+====================+======================+ | 1 | 0 to 1080 | degrees per second | +-------+----------+ | | | | | | Value | Meaning | | | | | | +=======+==========+ | | | | | | 0 | Disabled | | | | | | +-------+----------+ | | | | | | 60 | Slow | | | | | | +-------+----------+ | | | | | | 180 | Medium | | | | | | +-------+----------+ | | | | | | 360 | Fast | | | | | | +-------+----------+ | | | | | | +-----------+-----------+--------------------+----------------------+ .. _Q_A_INPUT_TC: Q\_A\_INPUT\_TC: Attitude control input time constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Attitude control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response +-----------+--------+---------+------------------------+ | Increment | Range | Units | Values | +===========+========+=========+========================+ | 0.01 | 0 to 1 | seconds | +-------+------------+ | | | | | | Value | Meaning | | | | | | +=======+============+ | | | | | | 0.5 | Very Soft | | | | | | +-------+------------+ | | | | | | 0.2 | Soft | | | | | | +-------+------------+ | | | | | | 0.15 | Medium | | | | | | +-------+------------+ | | | | | | 0.1 | Crisp | | | | | | +-------+------------+ | | | | | | 0.05 | Very Crisp | | | | | | +-------+------------+ | | | | | | +-----------+--------+---------+------------------------+ .. _Q_A_LAND_R_MULT: Q\_A\_LAND\_R\_MULT: Landed roll gain multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the roll axis\. +-------------+ | Range | +=============+ | 0.25 to 1.0 | +-------------+ .. _Q_A_LAND_P_MULT: Q\_A\_LAND\_P\_MULT: Landed pitch gain multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the pitch axis\. +-------------+ | Range | +=============+ | 0.25 to 1.0 | +-------------+ .. _Q_A_LAND_Y_MULT: Q\_A\_LAND\_Y\_MULT: Landed yaw gain multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the yaw axis\. +-------------+ | Range | +=============+ | 0.25 to 1.0 | +-------------+ .. _Q_A_ANGLE_MAX: Q\_A\_ANGLE\_MAX: Angle Max ~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum lean angle in all flight modes +-----------+--------------+---------+ | Increment | Range | Units | +===========+==============+=========+ | 0.1 | 10.0 to 80.0 | degrees | +-----------+--------------+---------+ .. _Q_A_RATE_WPY_MAX: Q\_A\_RATE\_WPY\_MAX: Yaw target slew rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum rate the yaw target can be updated in Auto\, Guided\, Circle\, Follow\, RTL\, SmartRTL\, Throw and ZigZag flight modes +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 5 to 180 | degrees per second | +-----------+----------+--------------------+ .. _Q_A_ACC_Y_MAX: Q\_A\_ACC\_Y\_MAX: Acceleration Max for Yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum acceleration in yaw axis +-----------+----------+---------------------------+----------------------+ | Increment | Range | Units | Values | +===========+==========+===========================+======================+ | 10 | 0 to 720 | degrees per square second | +-------+----------+ | | | | | | Value | Meaning | | | | | | +=======+==========+ | | | | | | 0 | Disabled | | | | | | +-------+----------+ | | | | | | 90 | VerySlow | | | | | | +-------+----------+ | | | | | | 180 | Slow | | | | | | +-------+----------+ | | | | | | 360 | Medium | | | | | | +-------+----------+ | | | | | | 540 | Fast | | | | | | +-------+----------+ | | | | | | +-----------+----------+---------------------------+----------------------+ .. _Q_A_ACC_R_MAX: Q\_A\_ACC\_R\_MAX: Acceleration Max for Roll ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum acceleration in roll axis +-----------+-----------+---------------------------+----------------------+ | Increment | Range | Units | Values | +===========+===========+===========================+======================+ | 10 | 0 to 1800 | degrees per square second | +-------+----------+ | | | | | | Value | Meaning | | | | | | +=======+==========+ | | | | | | 0 | Disabled | | | | | | +-------+----------+ | | | | | | 300 | VerySlow | | | | | | +-------+----------+ | | | | | | 720 | Slow | | | | | | +-------+----------+ | | | | | | 1080 | Medium | | | | | | +-------+----------+ | | | | | | 1620 | Fast | | | | | | +-------+----------+ | | | | | | +-----------+-----------+---------------------------+----------------------+ .. _Q_A_ACC_P_MAX: Q\_A\_ACC\_P\_MAX: Acceleration Max for Pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum acceleration in pitch axis +-----------+-----------+---------------------------+----------------------+ | Increment | Range | Units | Values | +===========+===========+===========================+======================+ | 10 | 0 to 1800 | degrees per square second | +-------+----------+ | | | | | | Value | Meaning | | | | | | +=======+==========+ | | | | | | 0 | Disabled | | | | | | +-------+----------+ | | | | | | 300 | VerySlow | | | | | | +-------+----------+ | | | | | | 720 | Slow | | | | | | +-------+----------+ | | | | | | 1080 | Medium | | | | | | +-------+----------+ | | | | | | 1620 | Fast | | | | | | +-------+----------+ | | | | | | +-----------+-----------+---------------------------+----------------------+ .. _Q_A_RAT_RLL_P: Q\_A\_RAT\_RLL\_P: Roll axis rate controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate +-----------+-------------+--------------------+ | Increment | Range | Units | +===========+=============+====================+ | 0.005 | 0.01 to 0.5 | seconds per radian | +-----------+-------------+--------------------+ .. _Q_A_RAT_RLL_I: Q\_A\_RAT\_RLL\_I: Roll axis rate controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate +-----------+-------------+------------+ | Increment | Range | Units | +===========+=============+============+ | 0.01 | 0.01 to 2.0 | per radian | +-----------+-------------+------------+ .. _Q_A_RAT_RLL_IMAX: Q\_A\_RAT\_RLL\_IMAX: Roll axis rate controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _Q_A_RAT_RLL_D: Q\_A\_RAT\_RLL\_D: Roll axis rate controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate +-----------+-------------+----------------------------+ | Increment | Range | Units | +===========+=============+============================+ | 0.001 | 0.0 to 0.05 | seconds squared per radian | +-----------+-------------+----------------------------+ .. _Q_A_RAT_RLL_FF: Q\_A\_RAT\_RLL\_FF: Roll axis rate controller feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller feed forward +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 0.001 | 0 to 0.5 | seconds per radian | +-----------+----------+--------------------+ .. _Q_A_RAT_RLL_FLTT: Q\_A\_RAT\_RLL\_FLTT: Roll axis rate controller target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller target frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 5 to 100 | hertz | +-----------+----------+-------+ .. _Q_A_RAT_RLL_FLTE: Q\_A\_RAT\_RLL\_FLTE: Roll axis rate controller error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller error frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 100 | hertz | +-----------+----------+-------+ .. _Q_A_RAT_RLL_FLTD: Q\_A\_RAT\_RLL\_FLTD: Roll axis rate controller derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller derivative frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 5 to 100 | hertz | +-----------+----------+-------+ .. _Q_A_RAT_RLL_SMAX: Q\_A\_RAT\_RLL\_SMAX: Roll slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _Q_A_RAT_RLL_PDMX: Q\_A\_RAT\_RLL\_PDMX: Roll axis rate controller PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _Q_A_RAT_RLL_D_FF: Q\_A\_RAT\_RLL\_D\_FF: Roll Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+----------------------------+ | Increment | Range | Units | +===========+===========+============================+ | 0.0001 | 0 to 0.02 | seconds squared per radian | +-----------+-----------+----------------------------+ .. _Q_A_RAT_RLL_NTF: Q\_A\_RAT\_RLL\_NTF: Roll Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _Q_A_RAT_RLL_NEF: Q\_A\_RAT\_RLL\_NEF: Roll Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _Q_A_RAT_PIT_P: Q\_A\_RAT\_PIT\_P: Pitch axis rate controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output +-----------+--------------+--------------------+ | Increment | Range | Units | +===========+==============+====================+ | 0.005 | 0.01 to 0.50 | seconds per radian | +-----------+--------------+--------------------+ .. _Q_A_RAT_PIT_I: Q\_A\_RAT\_PIT\_I: Pitch axis rate controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate +-----------+-------------+------------+ | Increment | Range | Units | +===========+=============+============+ | 0.01 | 0.01 to 2.0 | per radian | +-----------+-------------+------------+ .. _Q_A_RAT_PIT_IMAX: Q\_A\_RAT\_PIT\_IMAX: Pitch axis rate controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _Q_A_RAT_PIT_D: Q\_A\_RAT\_PIT\_D: Pitch axis rate controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate +-----------+-------------+----------------------------+ | Increment | Range | Units | +===========+=============+============================+ | 0.001 | 0.0 to 0.05 | seconds squared per radian | +-----------+-------------+----------------------------+ .. _Q_A_RAT_PIT_FF: Q\_A\_RAT\_PIT\_FF: Pitch axis rate controller feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller feed forward +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 0.001 | 0 to 0.5 | seconds per radian | +-----------+----------+--------------------+ .. _Q_A_RAT_PIT_FLTT: Q\_A\_RAT\_PIT\_FLTT: Pitch axis rate controller target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller target frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 5 to 100 | hertz | +-----------+----------+-------+ .. _Q_A_RAT_PIT_FLTE: Q\_A\_RAT\_PIT\_FLTE: Pitch axis rate controller error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller error frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 100 | hertz | +-----------+----------+-------+ .. _Q_A_RAT_PIT_FLTD: Q\_A\_RAT\_PIT\_FLTD: Pitch axis rate controller derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller derivative frequency in Hz +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 5 to 100 | hertz | +-----------+----------+-------+ .. _Q_A_RAT_PIT_SMAX: Q\_A\_RAT\_PIT\_SMAX: Pitch slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _Q_A_RAT_PIT_PDMX: Q\_A\_RAT\_PIT\_PDMX: Pitch axis rate controller PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pitch axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _Q_A_RAT_PIT_D_FF: Q\_A\_RAT\_PIT\_D\_FF: Pitch Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+----------------------------+ | Increment | Range | Units | +===========+===========+============================+ | 0.0001 | 0 to 0.02 | seconds squared per radian | +-----------+-----------+----------------------------+ .. _Q_A_RAT_PIT_NTF: Q\_A\_RAT\_PIT\_NTF: Pitch Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _Q_A_RAT_PIT_NEF: Q\_A\_RAT\_PIT\_NEF: Pitch Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Pitch Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _Q_A_RAT_YAW_P: Q\_A\_RAT\_YAW\_P: Yaw axis rate controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate +-----------+--------------+--------------------+ | Increment | Range | Units | +===========+==============+====================+ | 0.005 | 0.10 to 2.50 | seconds per radian | +-----------+--------------+--------------------+ .. _Q_A_RAT_YAW_I: Q\_A\_RAT\_YAW\_I: Yaw axis rate controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate +-----------+--------------+------------+ | Increment | Range | Units | +===========+==============+============+ | 0.01 | 0.010 to 1.0 | per radian | +-----------+--------------+------------+ .. _Q_A_RAT_YAW_IMAX: Q\_A\_RAT\_YAW\_IMAX: Yaw axis rate controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _Q_A_RAT_YAW_D: Q\_A\_RAT\_YAW\_D: Yaw axis rate controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate +-----------+---------------+----------------------------+ | Increment | Range | Units | +===========+===============+============================+ | 0.001 | 0.000 to 0.02 | seconds squared per radian | +-----------+---------------+----------------------------+ .. _Q_A_RAT_YAW_FF: Q\_A\_RAT\_YAW\_FF: Yaw axis rate controller feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller feed forward +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 0.001 | 0 to 0.5 | seconds per radian | +-----------+----------+--------------------+ .. _Q_A_RAT_YAW_FLTT: Q\_A\_RAT\_YAW\_FLTT: Yaw axis rate controller target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller target frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 1 to 50 | hertz | +-----------+---------+-------+ .. _Q_A_RAT_YAW_FLTE: Q\_A\_RAT\_YAW\_FLTE: Yaw axis rate controller error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller error frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 20 | hertz | +-----------+---------+-------+ .. _Q_A_RAT_YAW_FLTD: Q\_A\_RAT\_YAW\_FLTD: Yaw axis rate controller derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller derivative frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 5 to 50 | hertz | +-----------+---------+-------+ .. _Q_A_RAT_YAW_SMAX: Q\_A\_RAT\_YAW\_SMAX: Yaw slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _Q_A_RAT_YAW_PDMX: Q\_A\_RAT\_YAW\_PDMX: Yaw axis rate controller PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _Q_A_RAT_YAW_D_FF: Q\_A\_RAT\_YAW\_D\_FF: Yaw Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+----------------------------+ | Increment | Range | Units | +===========+===========+============================+ | 0.0001 | 0 to 0.02 | seconds squared per radian | +-----------+-----------+----------------------------+ .. _Q_A_RAT_YAW_NTF: Q\_A\_RAT\_YAW\_NTF: Yaw Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _Q_A_RAT_YAW_NEF: Q\_A\_RAT\_YAW\_NEF: Yaw Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _Q_A_THR_MIX_MIN: Q\_A\_THR\_MIX\_MIN: Throttle Mix Minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Throttle vs attitude control prioritisation used when landing \(higher values mean we prioritise attitude control over throttle\) +-------------+ | Range | +=============+ | 0.1 to 0.25 | +-------------+ .. _Q_A_THR_MIX_MAX: Q\_A\_THR\_MIX\_MAX: Throttle Mix Maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Throttle vs attitude control prioritisation used during active flight \(higher values mean we prioritise attitude control over throttle\) +------------+ | Range | +============+ | 0.5 to 0.9 | +------------+ .. _Q_A_THR_MIX_MAN: Q\_A\_THR\_MIX\_MAN: Throttle Mix Manual ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Throttle vs attitude control prioritisation used during manual flight \(higher values mean we prioritise attitude control over throttle\) +------------+ | Range | +============+ | 0.1 to 0.9 | +------------+ .. _Q_A_THR_G_BOOST: Q\_A\_THR\_G\_BOOST: Throttle\-gain boost ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Throttle\-gain boost ratio\. A value of 0 means no boosting is applied\, a value of 1 means full boosting is applied\. Describes the ratio increase that is applied to angle P and PD on pitch and roll\. +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _parameters_Q_LOIT_: Q\_LOIT\_ Parameters -------------------- .. _Q_LOIT_ANG_MAX: Q\_LOIT\_ANG\_MAX: Loiter pilot angle max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Loiter maximum pilot requested lean angle\. Set to zero for 2\/3 of Q\_P\_ANGLE\_MAX\/Q\_A\_ANGLE\_MAX\. The maximum vehicle lean angle is still limited by Q\_P\_ANGLE\_MAX\/Q\_A\_ANGLE\_MAX +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 45 | degrees | +-----------+---------+---------+ .. _Q_LOIT_BRK_DELAY: Q\_LOIT\_BRK\_DELAY: Loiter brake start delay \(in seconds\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Loiter brake start delay \(in seconds\) +-----------+--------+---------+ | Increment | Range | Units | +===========+========+=========+ | 0.1 | 0 to 2 | seconds | +-----------+--------+---------+ .. _Q_LOIT_OPTIONS: Q\_LOIT\_OPTIONS: Loiter mode options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enables optional Loiter mode behaviors +------------------------------------+ | Bitmask | +====================================+ | +-----+--------------------------+ | | | Bit | Meaning | | | +=====+==========================+ | | | 0 | Enable Coordinated turns | | | +-----+--------------------------+ | | | +------------------------------------+ .. _Q_LOIT_SPEED_MS: Q\_LOIT\_SPEED\_MS: Loiter Horizontal Maximum Speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines the maximum speed in m\/s which the aircraft will travel horizontally while in loiter mode +-----------+------------+-------------------+ | Increment | Range | Units | +===========+============+===================+ | 0.05 | 0.20 to 35 | meters per second | +-----------+------------+-------------------+ .. _Q_LOIT_ACC_MAX_M: Q\_LOIT\_ACC\_MAX\_M: Loiter maximum correction acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Loiter maximum correction acceleration in m\/s\/s\. Higher values cause the copter to correct position errors more aggressively\. +-----------+-----------+--------------------------+ | Increment | Range | Units | +===========+===========+==========================+ | 0.01 | 1 to 9.81 | meters per square second | +-----------+-----------+--------------------------+ .. _Q_LOIT_BRK_ACC_M: Q\_LOIT\_BRK\_ACC\_M: Loiter braking acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Loiter braking acceleration in m\/s\/s\. Higher values stop the copter more quickly when the stick is centered\. +-----------+-------------+--------------------------+ | Increment | Range | Units | +===========+=============+==========================+ | 0.01 | 0.25 to 2.5 | meters per square second | +-----------+-------------+--------------------------+ .. _Q_LOIT_BRK_JRK_M: Q\_LOIT\_BRK\_JRK\_M: Loiter braking jerk ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Loiter braking jerk in m\/s\/s\/s\. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver\. +-----------+---------+-------------------------+ | Increment | Range | Units | +===========+=========+=========================+ | 0.01 | 5 to 50 | meters per cubic second | +-----------+---------+-------------------------+ .. _parameters_Q_M_: Q\_M\_ Parameters ----------------- .. _Q_M_YAW_HEADROOM: Q\_M\_YAW\_HEADROOM: Matrix Yaw Min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw control is given at least this pwm in microseconds range +-----------+----------+---------------------+ | Increment | Range | Units | +===========+==========+=====================+ | 1 | 0 to 500 | PWM in microseconds | +-----------+----------+---------------------+ .. _Q_M_THST_EXPO: Q\_M\_THST\_EXPO: Thrust Curve Expo ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Motor thrust curve exponent \(0\.0 for linear to 1\.0 for second order curve\) +-------------+ | Range | +=============+ | -1.0 to 1.0 | +-------------+ .. _Q_M_SPIN_MAX: Q\_M\_SPIN\_MAX: Motor Spin maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range +------------+---------------------+ | Range | Values | +============+=====================+ | 0.9 to 1.0 | +-------+---------+ | | | | Value | Meaning | | | | +=======+=========+ | | | | 0.9 | Low | | | | +-------+---------+ | | | | 0.95 | Default | | | | +-------+---------+ | | | | 1.0 | High | | | | +-------+---------+ | | | | +------------+---------------------+ .. _Q_M_BAT_VOLT_MAX: Q\_M\_BAT\_VOLT\_MAX: Battery voltage compensation maximum voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 0.1 | 6 to 53 | volt | +-----------+---------+-------+ .. _Q_M_BAT_VOLT_MIN: Q\_M\_BAT\_VOLT\_MIN: Battery voltage compensation minimum voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.3 \* cell count\, 0 \= Disabled +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 0.1 | 6 to 42 | volt | +-----------+---------+-------+ .. _Q_M_BAT_CURR_MAX: Q\_M\_BAT\_CURR\_MAX: Motor Current Max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum current over which maximum throttle is limited \(0 \= Disabled\) +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 0.1 | 0 to 200 | ampere | +-----------+----------+--------+ .. _Q_M_PWM_TYPE: Q\_M\_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\.PWMRange and PWMAngle are PWM special\/rare cases for ESCs that dont calibrate normally \(some Sub motors\) or where each ESC must have its PWM range set individually using the Servo params instead of PWM\_MIN\/MAX parameters\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Normal | | | +-------+------------+ | | | 1 | OneShot | | | +-------+------------+ | | | 2 | OneShot125 | | | +-------+------------+ | | | 3 | Brushed | | | +-------+------------+ | | | 4 | DShot150 | | | +-------+------------+ | | | 5 | DShot300 | | | +-------+------------+ | | | 6 | DShot600 | | | +-------+------------+ | | | 7 | DShot1200 | | | +-------+------------+ | | | 8 | PWMRange | | | +-------+------------+ | | | 9 | PWMAngle | | | +-------+------------+ | | | +------------------------+ .. _Q_M_PWM_MIN: Q\_M\_PWM\_MIN: PWM output minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the min PWM output value in microseconds that will ever be output to the motors +-----------+-----------+---------------------+ | Increment | Range | Units | +===========+===========+=====================+ | 1 | 0 to 2000 | PWM in microseconds | +-----------+-----------+---------------------+ .. _Q_M_PWM_MAX: Q\_M\_PWM\_MAX: PWM output maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the max PWM value in microseconds that will ever be output to the motors +-----------+-----------+---------------------+ | Increment | Range | Units | +===========+===========+=====================+ | 1 | 0 to 2000 | PWM in microseconds | +-----------+-----------+---------------------+ .. _Q_M_SPIN_MIN: Q\_M\_SPIN\_MIN: Motor Spin minimum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range\. Should be higher than MOT\_SPIN\_ARM\. +-----------+-------------+---------------------+ | Increment | Range | Values | +===========+=============+=====================+ | 0.01 | 0.0 to 0.25 | +-------+---------+ | | | | | Value | Meaning | | | | | +=======+=========+ | | | | | 0.0 | Low | | | | | +-------+---------+ | | | | | 0.15 | Default | | | | | +-------+---------+ | | | | | 0.25 | High | | | | | +-------+---------+ | | | | | +-----------+-------------+---------------------+ .. _Q_M_SPIN_ARM: Q\_M\_SPIN\_ARM: Motor Spin armed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range\. Should be lower than MOT\_SPIN\_MIN\. +-----------+------------+---------------------+ | Increment | Range | Values | +===========+============+=====================+ | 0.01 | 0.0 to 0.2 | +-------+---------+ | | | | | Value | Meaning | | | | | +=======+=========+ | | | | | 0.0 | Low | | | | | +-------+---------+ | | | | | 0.1 | Default | | | | | +-------+---------+ | | | | | 0.2 | High | | | | | +-------+---------+ | | | | | +-----------+------------+---------------------+ .. _Q_M_BAT_CURR_TC: Q\_M\_BAT\_CURR\_TC: Motor Current Max Time Constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time constant used to limit the maximum current +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.01 | 0 to 10 | seconds | +-----------+---------+---------+ .. _Q_M_THST_HOVER: Q\_M\_THST\_HOVER: Thrust Hover Value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Motor thrust needed to hover expressed as a number from 0 to 1 +-----------------+ | Range | +=================+ | 0.125 to 0.6875 | +-----------------+ .. _Q_M_HOVER_LEARN: Q\_M\_HOVER\_LEARN: Hover Value Learning ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable\/Disable automatic learning of hover throttle +----------------------------+ | Values | +============================+ | +-------+----------------+ | | | Value | Meaning | | | +=======+================+ | | | 0 | Disabled | | | +-------+----------------+ | | | 1 | Learn | | | +-------+----------------+ | | | 2 | Learn and Save | | | +-------+----------------+ | | | +----------------------------+ .. _Q_M_SAFE_DISARM: Q\_M\_SAFE\_DISARM: Motor PWM output disabled when disarmed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Disables motor PWM output when disarmed +-----------------------------------------+ | Values | +=========================================+ | +-------+-----------------------------+ | | | Value | Meaning | | | +=======+=============================+ | | | 0 | PWM enabled while disarmed | | | +-------+-----------------------------+ | | | 1 | PWM disabled while disarmed | | | +-------+-----------------------------+ | | | +-----------------------------------------+ .. _Q_M_YAW_SV_ANGLE: Q\_M\_YAW\_SV\_ANGLE: Yaw Servo Max Lean Angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw servo\'s maximum lean angle \(Tricopter only\) +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 5 to 80 | degrees | +-----------+---------+---------+ .. _Q_M_SPOOL_TIME: Q\_M\_SPOOL\_TIME: Spool up time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time in seconds to spool up the motors from zero to min throttle\. +-----------+-----------+---------+ | Increment | Range | Units | +===========+===========+=========+ | 0.1 | 0.05 to 2 | seconds | +-----------+-----------+---------+ .. _Q_M_BOOST_SCALE: Q\_M\_BOOST\_SCALE: Motor boost scale ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Booster motor output scaling factor vs main throttle\. The output to the BoostThrottle servo will be the main throttle times this scaling factor\. A higher scaling factor will put more of the load on the booster motor\. A value of 1 will set the BoostThrottle equal to the main throttle\. +-----------+--------+ | Increment | Range | +===========+========+ | 0.1 | 0 to 5 | +-----------+--------+ .. _Q_M_BAT_IDX: Q\_M\_BAT\_IDX: Battery compensation index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Which battery monitor should be used for doing compensation +-----------+---------+----------------------------+ | Increment | Range | Values | +===========+=========+============================+ | 1 | 0 to 15 | +-------+----------------+ | | | | | Value | Meaning | | | | | +=======+================+ | | | | | 0 | First battery | | | | | +-------+----------------+ | | | | | 1 | Second battery | | | | | +-------+----------------+ | | | | | +-----------+---------+----------------------------+ .. _Q_M_SLEW_UP_TIME: Q\_M\_SLEW\_UP\_TIME: Output slew time for increasing throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time in seconds to slew output from zero to full\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 0.001 | 0 to 0.5 | seconds | +-----------+----------+---------+ .. _Q_M_SLEW_DN_TIME: Q\_M\_SLEW\_DN\_TIME: Output slew time for decreasing throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time in seconds to slew output from full to zero\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 0.001 | 0 to 0.5 | seconds | +-----------+----------+---------+ .. _Q_M_SAFE_TIME: Q\_M\_SAFE\_TIME: PWM re\-enable delay after arming when disarmed pwm was disabled ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Delay after arming before spool transitions are allowed\, used to let ESCs\/servos complete startup when PWM was disabled while disarmed\. +-----------+--------+---------+ | Increment | Range | Units | +===========+========+=========+ | 0.001 | 0 to 5 | seconds | +-----------+--------+---------+ .. _Q_M_OPTIONS: Q\_M\_OPTIONS: Motor options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Motor options +-------------------------------------------------+ | Bitmask | +=================================================+ | +-----+---------------------------------------+ | | | Bit | Meaning | | | +=====+=======================================+ | | | 0 | Voltage compensation uses raw voltage | | | +-----+---------------------------------------+ | | | +-------------------------------------------------+ .. _Q_M_SPOOL_TIM_DN: Q\_M\_SPOOL\_TIM\_DN: Spool down time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time to ramp the throttle ceiling down toward zero\. If 0\, SPOOL\_TIME is used\. +-----------+--------+---------+ | Increment | Range | Units | +===========+========+=========+ | 0.001 | 0 to 2 | seconds | +-----------+--------+---------+ .. _Q_M_IDLE_SEC: Q\_M\_IDLE\_SEC: Idle time ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Delay after reaching ground idle when armed to allow ESC startup to complete\. +-----------+--------+---------+ | Increment | Range | Units | +===========+========+=========+ | 0.1 | 0 to 5 | seconds | +-----------+--------+---------+ .. _parameters_Q_P: Q\_P Parameters --------------- .. _Q_P_D_POS_P: Q\_P\_D\_POS\_P: Position \(vertical\) controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Position \(vertical\) controller P gain\. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller\. Previously \_POSZ\_P\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.01 | 0.50 to 4.00 | +-----------+--------------+ .. _Q_P_NE_POS_P: Q\_P\_NE\_POS\_P: Position \(horizontal\) controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Position controller P gain\. Converts the distance \(in the latitude direction\) to the target location into a desired speed which is then passed to the loiter latitude rate controller\. Previously \_POSXY\_P\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.01 | 0.50 to 4.00 | +-----------+--------------+ .. _Q_P_ANGLE_MAX: Q\_P\_ANGLE\_MAX: Position Control Angle Max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum lean angle autopilot can request\. Set to zero to use ANGLE\_MAX parameter value +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 45 | degrees | +-----------+---------+---------+ .. _Q_P_NE_JERK: Q\_P\_NE\_JERK: Jerk limit for the horizontal kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target +-----------+---------+-------------------------+ | Increment | Range | Units | +===========+=========+=========================+ | 1 | 1 to 50 | meters per cubic second | +-----------+---------+-------------------------+ .. _Q_P_D_JERK: Q\_P\_D\_JERK: Jerk limit for the vertical kinematic input shaping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target +-----------+---------+-------------------------+ | Increment | Range | Units | +===========+=========+=========================+ | 1 | 1 to 50 | meters per cubic second | +-----------+---------+-------------------------+ .. _Q_P_D_VEL_P: Q\_P\_D\_VEL\_P: Velocity \(vertical\) controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Velocity \(vertical\) controller P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller\. Previously \_VELZ\_P\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.1 | 1.0 to 10.0 | +-----------+-------------+ .. _Q_P_D_VEL_I: Q\_P\_D\_VEL\_I: Velocity \(vertical\) controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(vertical\) controller I gain\. Corrects long\-term difference in desired velocity to a target acceleration\. Previously \_VELZ\_I\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.1 | 0.00 to 10.0 | +-----------+--------------+ .. _Q_P_D_VEL_IMAX: Q\_P\_D\_VEL\_IMAX: Velocity \(vertical\) controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Velocity \(vertical\) controller I gain maximum\. Constrains the target acceleration that the I gain will output\. If upgrading from 4\.6 this is \_VELZ\_IMAX \* 0\.01\. +-----------+-----------------+ | Increment | Range | +===========+=================+ | 0.1 | 1.000 to 10.000 | +-----------+-----------------+ .. _Q_P_D_VEL_D: Q\_P\_D\_VEL\_D: Velocity \(vertical\) controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(vertical\) controller D gain\. Corrects short\-term changes in velocity\. Previously \_VELZ\_D\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.01 | 0.00 to 2.00 | +-----------+--------------+ .. _Q_P_D_VEL_FF: Q\_P\_D\_VEL\_FF: Velocity \(vertical\) controller Feed Forward gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(vertical\) controller Feed Forward gain\. Produces an output that is proportional to the magnitude of the target\. Previously \_VELZ\_FF\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.01 | 0.00 to 2.00 | +-----------+--------------+ .. _Q_P_D_VEL_FLTE: Q\_P\_D\_VEL\_FLTE: Velocity \(vertical\) error filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(vertical\) error filter\. This filter \(in Hz\) is applied to the input for P and I terms\. Previously \_VELZ\_FLTE\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1.0 | 0 to 100 | hertz | +-----------+----------+-------+ .. _Q_P_D_VEL_FLTD: Q\_P\_D\_VEL\_FLTD: Velocity \(vertical\) input filter for D term ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(vertical\) input filter for D term\. This filter \(in Hz\) is applied to the input for D terms\. Previously \_VELZ\_FLTD\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1.0 | 0 to 100 | hertz | +-----------+----------+-------+ .. _Q_P_D_ACC_P: Q\_P\_D\_ACC\_P: Acceleration \(vertical\) controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration \(vertical\) controller P gain\. Converts the difference between desired vertical acceleration and actual acceleration into a motor output\. If upgrading from 4\.6 this is \_ACCZ\_P \* 0\.1\. +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.010 to 0.250 | +-----------+----------------+ .. _Q_P_D_ACC_I: Q\_P\_D\_ACC\_I: Acceleration \(vertical\) controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration \(vertical\) controller I gain\. Corrects long\-term difference in desired vertical acceleration and actual acceleration\. If upgrading from 4\.6 this is \_ACCZ\_I \* 0\.1\. +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.500 | +-----------+----------------+ .. _Q_P_D_ACC_IMAX: Q\_P\_D\_ACC\_IMAX: Acceleration \(vertical\) controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration \(vertical\) controller I gain maximum\. Constrains the maximum pwm that the I term will generate\. If upgrading from 4\.6 this is \_ACCZ\_IMAX \* 0\.001\. +-----------+------------+-------------+ | Increment | Range | Units | +===========+============+=============+ | 0.01 | 0.0 to 1.0 | decipercent | +-----------+------------+-------------+ .. _Q_P_D_ACC_D: Q\_P\_D\_ACC\_D: Acceleration \(vertical\) controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration \(vertical\) controller D gain\. Compensates for short\-term change in desired vertical acceleration vs actual acceleration\. If upgrading from 4\.6 this is \_ACCZ\_D \* 0\.1\. +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.100 | +-----------+----------------+ .. _Q_P_D_ACC_FF: Q\_P\_D\_ACC\_FF: Acceleration \(vertical\) controller feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration \(vertical\) controller feed forward\. If upgrading from 4\.6 this is \_ACCZ\_FF \* 0\.1\. +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.100 | +-----------+----------------+ .. _Q_P_D_ACC_FLTT: Q\_P\_D\_ACC\_FLTT: Acceleration \(vertical\) controller target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration \(vertical\) controller target frequency in Hz\. Previously \_ACCZ\_FLTT\. +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 1 to 50 | hertz | +-----------+---------+-------+ .. _Q_P_D_ACC_FLTE: Q\_P\_D\_ACC\_FLTE: Acceleration \(vertical\) controller error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration \(vertical\) controller error frequency in Hz\. Previously \_ACCZ\_FLTE\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 1 to 100 | hertz | +-----------+----------+-------+ .. _Q_P_D_ACC_FLTD: Q\_P\_D\_ACC\_FLTD: Acceleration \(vertical\) controller derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration \(vertical\) controller derivative frequency in Hz\. Previously \_ACCZ\_FLTD\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 1 to 100 | hertz | +-----------+----------+-------+ .. _Q_P_D_ACC_SMAX: Q\_P\_D\_ACC\_SMAX: Accel \(vertical\) slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.1 | 0 to 100 | +-----------+----------+ .. _Q_P_D_ACC_PDMX: Q\_P\_D\_ACC\_PDMX: Acceleration \(vertical\) controller PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Acceleration \(vertical\) controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output\. If upgrading from 4\.6 this is \_ACCZ\_P \* 0\.1\. +-----------+--------------+-------------+ | Increment | Range | Units | +===========+==============+=============+ | 0.01 | 0.00 to 1.00 | decipercent | +-----------+--------------+-------------+ .. _Q_P_D_ACC_D_FF: Q\_P\_D\_ACC\_D\_FF: Accel \(vertical\) Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target\. If upgrading from 4\.6 this is \_ACCZ\_P \* 0\.1\. +-----------+----------------+ | Increment | Range | +===========+================+ | 0.001 | 0.000 to 0.050 | +-----------+----------------+ .. _Q_P_D_ACC_NTF: Q\_P\_D\_ACC\_NTF: Accel \(vertical\) Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accel \(vertical\) Target notch filter index\, zero disables\. If upgrading from 4\.6 this is Previously \_ACCZ\_NTF\. +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _Q_P_D_ACC_NEF: Q\_P\_D\_ACC\_NEF: Accel \(vertical\) Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Accel \(vertical\) Error notch filter index\, zero disables\. If upgrading from 4\.6 this is Previously \_ACCZ\_NEF\. +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _Q_P_NE_VEL_P: Q\_P\_NE\_VEL\_P: Velocity \(horizontal\) P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) P gain\. Converts the difference between desired and actual velocity to a target acceleration\. Previously \_VELXY\_P\. +-----------+---------------+ | Increment | Range | +===========+===============+ | 0.01 | 0.10 to 10.00 | +-----------+---------------+ .. _Q_P_NE_VEL_I: Q\_P\_NE\_VEL\_I: Velocity \(horizontal\) I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) I gain\. Corrects long\-term difference between desired and actual velocity to a target acceleration\. Previously \_VELXY\_I\. +-----------+---------------+ | Increment | Range | +===========+===============+ | 0.01 | 0.10 to 10.00 | +-----------+---------------+ .. _Q_P_NE_VEL_D: Q\_P\_NE\_VEL\_D: Velocity \(horizontal\) D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) D gain\. Corrects short\-term changes in velocity\. Previously \_VELXY\_D\. +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.01 | 0.00 to 1.00 | +-----------+--------------+ .. _Q_P_NE_VEL_IMAX: Q\_P\_NE\_VEL\_IMAX: Velocity \(horizontal\) integrator maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) integrator maximum\. Constrains the target acceleration that the I gain will output\. If upgrading from 4\.6 this is \_VELXY\_IMAX \* 0\.01\. +-----------+---------+--------------------------+ | Increment | Range | Units | +===========+=========+==========================+ | 1 | 0 to 10 | meters per square second | +-----------+---------+--------------------------+ .. _Q_P_NE_VEL_FLTE: Q\_P\_NE\_VEL\_FLTE: Velocity \(horizontal\) input filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for P and I terms\. Previously \_VELXY\_FLTE\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 100 | hertz | +-----------+----------+-------+ .. _Q_P_NE_VEL_FLTD: Q\_P\_NE\_VEL\_FLTD: Velocity \(horizontal\) input filter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for D term\. Previously \_VELXY\_FLTD\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 1 | 0 to 100 | hertz | +-----------+----------+-------+ .. _Q_P_NE_VEL_FF: Q\_P\_NE\_VEL\_FF: Velocity \(horizontal\) feed forward gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Velocity \(horizontal\) feed forward gain\. Converts the difference between desired velocity to a target acceleration\. Previously \_VELXY\_FF\. +-----------+---------------+ | Increment | Range | +===========+===============+ | 0.01 | 0.10 to 10.00 | +-----------+---------------+ .. _parameters_Q_TAILSIT_: Q\_TAILSIT\_ Parameters ----------------------- .. _Q_TAILSIT_ENABLE: Q\_TAILSIT\_ENABLE: Enable Tailsitter ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This enables Tailsitter functionality\. A value of 2 forces Qassist active and always stabilize in forward flight with airmode for stabilisation at 0 throttle\, for use on vehicles with no control surfaces\, vehicle will not arm in forward flight modes\, see also Q\_OPTIONS \"Mtrs\_Only\_Qassist\" +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | Value | Meaning | | | +=======+===============+ | | | 0 | Disable | | | +-------+---------------+ | | | 1 | Enable | | | +-------+---------------+ | | | 2 | Enable Always | | | +-------+---------------+ | | | +---------------------------+ .. _Q_TAILSIT_ANGLE: Q\_TAILSIT\_ANGLE: Tailsitter fixed wing transition angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the pitch angle at which tailsitter aircraft will change from VTOL control to fixed wing control\. +---------+---------+ | Range | Units | +=========+=========+ | 5 to 80 | degrees | +---------+---------+ .. _Q_TAILSIT_ANG_VT: Q\_TAILSIT\_ANG\_VT: Tailsitter VTOL transition angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the pitch angle at which tailsitter aircraft will change from fixed wing control to VTOL control\, if zero Q\_TAILSIT\_ANGLE will be used +---------+---------+ | Range | Units | +=========+=========+ | 5 to 80 | degrees | +---------+---------+ .. _Q_TAILSIT_INPUT: Q\_TAILSIT\_INPUT: Tailsitter input type bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering\. When PlaneMode is not enabled \(bit0 \= 0\) the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame\. When PlaneMode input is enabled\, the roll and yaw sticks are swapped so that the roll stick controls earth\-frame yaw and rudder controls earth\-frame roll\. When body\-frame roll is enabled \(bit1 \= 1\)\, the yaw stick controls earth\-frame yaw rate and the roll stick controls roll in the tailsitter\'s body frame when flying level\. +-------------------------+ | Bitmask | +=========================+ | +-----+---------------+ | | | Bit | Meaning | | | +=====+===============+ | | | 0 | PlaneMode | | | +-----+---------------+ | | | 1 | BodyFrameRoll | | | +-----+---------------+ | | | +-------------------------+ .. _Q_TAILSIT_VFGAIN: Q\_TAILSIT\_VFGAIN: Tailsitter vector thrust gain in forward flight ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _Q_TAILSIT_VHGAIN: Q\_TAILSIT\_VHGAIN: Tailsitter vector thrust gain in hover ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls the amount of vectored thrust control used in hover for a vectored tailsitter +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _Q_TAILSIT_VHPOW: Q\_TAILSIT\_VHPOW: Tailsitter vector thrust gain power ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls the amount of extra pitch given to the vectored control when at high pitch errors +-----------+--------+ | Increment | Range | +===========+========+ | 0.1 | 0 to 4 | +-----------+--------+ .. _Q_TAILSIT_GSCMAX: Q\_TAILSIT\_GSCMAX: Maximum tailsitter gain scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum gain scaling for tailsitter Q\_TAILSIT\_GSCMSK options +--------+ | Range | +========+ | 1 to 5 | +--------+ .. _Q_TAILSIT_RLL_MX: Q\_TAILSIT\_RLL\_MX: Maximum Roll angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum Allowed roll angle for tailsitters\. If this is zero then Q\_A\_ANGLE\_MAX is used\. +---------+---------+ | Range | Units | +=========+=========+ | 0 to 80 | degrees | +---------+---------+ .. _Q_TAILSIT_MOTMX: Q\_TAILSIT\_MOTMX: Tailsitter motor mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask of motors to remain active in forward flight for a \'Copter\' tailsitter\. Non\-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q\_FRAME\_CLASS and Q\_FRAME\_TYPE\. This should be zero for non\-Copter tailsitters\. +--------------------+ | Bitmask | +====================+ | +-----+----------+ | | | Bit | Meaning | | | +=====+==========+ | | | 0 | Motor 1 | | | +-----+----------+ | | | 1 | Motor 2 | | | +-----+----------+ | | | 2 | Motor 3 | | | +-----+----------+ | | | 3 | Motor 4 | | | +-----+----------+ | | | 4 | Motor 5 | | | +-----+----------+ | | | 5 | Motor 6 | | | +-----+----------+ | | | 6 | Motor 7 | | | +-----+----------+ | | | 7 | Motor 8 | | | +-----+----------+ | | | 8 | Motor 9 | | | +-----+----------+ | | | 9 | Motor 10 | | | +-----+----------+ | | | 10 | Motor 11 | | | +-----+----------+ | | | 11 | Motor 12 | | | +-----+----------+ | | | +--------------------+ .. _Q_TAILSIT_GSCMSK: Q\_TAILSIT\_GSCMSK: Tailsitter gain scaling mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Bitmask of gain scaling methods to be applied\: Throttle\: scale gains with throttle\, ATT\_THR\: reduce gain at high throttle\/tilt\, 2\:Disk theory velocity calculation\, requires Q\_TAILSIT\_DSKLD to be set\, ATT\_THR must not be set\, 3\:Altitude correction\, scale with air density +-------------------------------+ | Bitmask | +===============================+ | +-----+---------------------+ | | | Bit | Meaning | | | +=====+=====================+ | | | 0 | Throttle | | | +-----+---------------------+ | | | 1 | ATT_THR | | | +-----+---------------------+ | | | 2 | Disk Theory | | | +-----+---------------------+ | | | 3 | Altitude correction | | | +-----+---------------------+ | | | +-------------------------------+ .. _Q_TAILSIT_GSCMIN: Q\_TAILSIT\_GSCMIN: Minimum tailsitter gain scaling ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum gain scaling for tailsitter Q\_TAILSIT\_GSCMSK options +----------+ | Range | +==========+ | 0.1 to 1 | +----------+ .. _Q_TAILSIT_DSKLD: Q\_TAILSIT\_DSKLD: Tailsitter disk loading ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the vehicle weight in kg divided by the total disk area of all propellers in m\^2\. Only used with Q\_TAILSIT\_GSCMSK \= 4 +---------+----------------------------+ | Range | Units | +=========+============================+ | 0 to 50 | kilograms per square meter | +---------+----------------------------+ .. _Q_TAILSIT_RAT_FW: Q\_TAILSIT\_RAT\_FW: Tailsitter VTOL to forward flight transition rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The pitch rate at which tailsitter aircraft will pitch down in the transition from VTOL to forward flight +-----------+--------------------+ | Range | Units | +===========+====================+ | 10 to 500 | degrees per second | +-----------+--------------------+ .. _Q_TAILSIT_RAT_VT: Q\_TAILSIT\_RAT\_VT: Tailsitter forward flight to VTOL transition rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The pitch rate at which tailsitter aircraft will pitch up in the transition from forward flight to VTOL +-----------+--------------------+ | Range | Units | +===========+====================+ | 10 to 500 | degrees per second | +-----------+--------------------+ .. _Q_TAILSIT_THR_VT: Q\_TAILSIT\_THR\_VT: Tailsitter forward flight to VTOL transition throttle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Throttle used during FW\-\>VTOL transition\, \-1 uses hover throttle +-----------+---------+ | Range | Units | +===========+=========+ | -1 to 100 | percent | +-----------+---------+ .. _Q_TAILSIT_VT_R_P: Q\_TAILSIT\_VT\_R\_P: Tailsitter VTOL control surface roll gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scale from PID output to control surface\, for use where a single axis is actuated by both motors and Tilt\/control surface on a copter style tailsitter\, increase to favor control surfaces and reduce motor output by reducing gains +--------+ | Range | +========+ | 0 to 2 | +--------+ .. _Q_TAILSIT_VT_P_P: Q\_TAILSIT\_VT\_P\_P: Tailsitter VTOL control surface pitch gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scale from PID output to control surface\, for use where a single axis is actuated by both motors and Tilt\/control surface on a copter style tailsitter\, increase to favor control surfaces and reduce motor output by reducing gains +--------+ | Range | +========+ | 0 to 2 | +--------+ .. _Q_TAILSIT_VT_Y_P: Q\_TAILSIT\_VT\_Y\_P: Tailsitter VTOL control surface yaw gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Scale from PID output to control surface\, for use where a single axis is actuated by both motors and Tilt\/control surface on a copter style tailsitter\, increase to favor control surfaces and reduce motor output by reducing gains +--------+ | Range | +========+ | 0 to 2 | +--------+ .. _Q_TAILSIT_MIN_VO: Q\_TAILSIT\_MIN\_VO: Tailsitter Disk loading minimum outflow speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Use in conjunction with disk theory gain scaling and Q\_TAILSIT\_DSKLD to specify minimum airspeed over control surfaces\, this will be used to boost throttle\, when descending for example\, 0 disables +---------+ | Range | +=========+ | 0 to 15 | +---------+ .. _parameters_Q_TILT_: Q\_TILT\_ Parameters -------------------- .. _Q_TILT_ENABLE: Q\_TILT\_ENABLE: Enable Tiltrotor functionality ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* This enables Tiltrotor functionality +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _Q_TILT_MASK: Q\_TILT\_MASK: Tiltrotor mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is a bitmask of motors that are tiltable in a tiltrotor \(or tiltwing\)\. The mask is in terms of the standard motor order for the frame type\. +--------------------+ | Bitmask | +====================+ | +-----+----------+ | | | Bit | Meaning | | | +=====+==========+ | | | 0 | Motor 1 | | | +-----+----------+ | | | 1 | Motor 2 | | | +-----+----------+ | | | 2 | Motor 3 | | | +-----+----------+ | | | 3 | Motor 4 | | | +-----+----------+ | | | 4 | Motor 5 | | | +-----+----------+ | | | 5 | Motor 6 | | | +-----+----------+ | | | 6 | Motor 7 | | | +-----+----------+ | | | 7 | Motor 8 | | | +-----+----------+ | | | 8 | Motor 9 | | | +-----+----------+ | | | 9 | Motor 10 | | | +-----+----------+ | | | 10 | Motor 11 | | | +-----+----------+ | | | 11 | Motor 12 | | | +-----+----------+ | | | +--------------------+ .. _Q_TILT_RATE_UP: Q\_TILT\_RATE\_UP: Tiltrotor upwards tilt rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 10 to 300 | degrees per second | +-----------+-----------+--------------------+ .. _Q_TILT_MAX: Q\_TILT\_MAX: Tiltrotor maximum VTOL angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the maximum angle of the tiltable motors at which multicopter control will be enabled\. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT\_RATE +-----------+----------+---------+ | Increment | Range | Units | +===========+==========+=========+ | 1 | 20 to 80 | degrees | +-----------+----------+---------+ .. _Q_TILT_TYPE: Q\_TILT\_TYPE: Tiltrotor type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the type of tiltrotor when TILT\_MASK is non\-zero\. A continuous tiltrotor can tilt the rotors to any angle on demand\. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up\. In both cases the servo can\'t move faster than Q\_TILT\_RATE\. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover\, Bicopter tiltrotor must use the tailsitter frame class \(10\) +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | Continuous | | | +-------+-------------+ | | | 1 | Binary | | | +-------+-------------+ | | | 2 | VectoredYaw | | | +-------+-------------+ | | | 3 | Bicopter | | | +-------+-------------+ | | | +-------------------------+ .. _Q_TILT_RATE_DN: Q\_TILT\_RATE\_DN: Tiltrotor downwards tilt rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight\. When this is zero the Q\_TILT\_RATE\_UP value is used\. +-----------+-----------+--------------------+ | Increment | Range | Units | +===========+===========+====================+ | 1 | 10 to 300 | degrees per second | +-----------+-----------+--------------------+ .. _Q_TILT_YAW_ANGLE: Q\_TILT\_YAW\_ANGLE: Tilt minimum angle for vectored yaw ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the angle of the tilt servos when in VTOL mode and at minimum output \(fully back\)\. This needs to be set in addition to Q\_TILT\_TYPE\=2\, to enable vectored control for yaw in tilt quadplanes\. This is also used to limit the forward travel of bicopter tilts\(Q\_TILT\_TYPE\=3\) when in VTOL modes\. +---------+ | Range | +=========+ | 0 to 30 | +---------+ .. _Q_TILT_FIX_ANGLE: Q\_TILT\_FIX\_ANGLE: Fixed wing tiltrotor angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the angle the motors tilt down when at maximum output for forward flight\. Set this to a non\-zero value to enable vectoring for roll\/pitch in forward flight on tilt\-vectored aircraft +---------+---------+ | Range | Units | +=========+=========+ | 0 to 30 | degrees | +---------+---------+ .. _Q_TILT_FIX_GAIN: Q\_TILT\_FIX\_GAIN: Fixed wing tiltrotor gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the gain for use of tilting motors in fixed wing flight for tilt vectored quadplanes +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _Q_TILT_WING_FLAP: Q\_TILT\_WING\_FLAP: Tiltrotor tilt angle that will be used as flap ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ For use on tilt wings\, the wing will tilt up to this angle for flap\, transition will be complete when the wing reaches this angle from the forward fight position\, 0 disables +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 15 | degrees | +-----------+---------+---------+ .. _parameters_Q_WP_: Q\_WP\_ Parameters ------------------ .. _Q_WP_RFND_USE: Q\_WP\_RFND\_USE: Waypoint missions use rangefinder for terrain following ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls if waypoint missions use rangefinder for terrain following +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _Q_WP_JERK: Q\_WP\_JERK: Waypoint Jerk ~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines the horizontal jerk in m\/s\/s used during missions +---------+-------------------------+ | Range | Units | +=========+=========================+ | 1 to 20 | meters per cubic second | +---------+-------------------------+ .. _Q_WP_TER_MARGIN: Q\_WP\_TER\_MARGIN: Waypoint Terrain following altitude margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Waypoint Terrain following altitude margin\. Vehicle will stop if distance from target altitude is larger than this margin \(in meters\) +------------+--------+ | Range | Units | +============+========+ | 0.1 to 100 | meters | +------------+--------+ .. _Q_WP_SPD: Q\_WP\_SPD: Waypoint Horizontal Speed Target ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed in m\/s which the aircraft will attempt to maintain horizontally during a WP mission +-----------+---------------+-------------------+ | Increment | Range | Units | +===========+===============+===================+ | 0.10 | 0.10 to 20.00 | meters per second | +-----------+---------------+-------------------+ .. _Q_WP_RADIUS_M: Q\_WP\_RADIUS\_M: Waypoint Radius ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Distance from a waypoint\, that when crossed indicates the wp has been reached\. +-----------+---------------+--------+ | Increment | Range | Units | +===========+===============+========+ | 0.01 | 0.05 to 10.00 | meters | +-----------+---------------+--------+ .. _Q_WP_SPD_UP: Q\_WP\_SPD\_UP: Waypoint Climb Speed Target ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed in m\/s which the aircraft will attempt to maintain while climbing during a WP mission +-----------+---------------+-------------------+ | Increment | Range | Units | +===========+===============+===================+ | 0.10 | 0.10 to 10.00 | meters per second | +-----------+---------------+-------------------+ .. _Q_WP_SPD_DN: Q\_WP\_SPD\_DN: Waypoint Descent Speed Target ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Speed in m\/s which the aircraft will attempt to maintain while descending during a WP mission +-----------+---------------+-------------------+ | Increment | Range | Units | +===========+===============+===================+ | 0.10 | 0.10 to 10.00 | meters per second | +-----------+---------------+-------------------+ .. _Q_WP_ACC: Q\_WP\_ACC: Waypoint Acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Horizontal acceleration in m\/s\/s used during missions +-----------+--------------+--------------------------+ | Increment | Range | Units | +===========+==============+==========================+ | 0.10 | 0.50 to 5.00 | meters per square second | +-----------+--------------+--------------------------+ .. _Q_WP_ACC_Z: Q\_WP\_ACC\_Z: Waypoint Vertical Acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Vertical acceleration in m\/s\/s used during missions +-----------+--------------+--------------------------+ | Increment | Range | Units | +===========+==============+==========================+ | 0.10 | 0.50 to 5.00 | meters per square second | +-----------+--------------+--------------------------+ .. _Q_WP_ACC_CNR: Q\_WP\_ACC\_CNR: Waypoint Cornering Acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum cornering acceleration in m\/s\/s used during missions\. If zero uses 2x accel value\. +-----------+-----------+--------------------------+ | Increment | Range | Units | +===========+===========+==========================+ | 0.10 | 0 to 5.00 | meters per square second | +-----------+-----------+--------------------------+ .. _parameters_Q_WVANE_: Q\_WVANE\_ Parameters --------------------- .. _Q_WVANE_ENABLE: Q\_WVANE\_ENABLE: Enable ~~~~~~~~~~~~~~~~~~~~~~~~ Enable weather vaning\. When active\, the aircraft will automatically yaw into wind when in a VTOL position controlled mode\. Pilot yaw commands override the weathervaning action\. +------------------------------------------------------------------------------------------------------+ | Values | +======================================================================================================+ | +-------+------------------------------------------------------------------------------------------+ | | | Value | Meaning | | | +=======+==========================================================================================+ | | | -1 | Only use during takeoffs or landing see weathervane takeoff and land override parameters | | | +-------+------------------------------------------------------------------------------------------+ | | | 0 | Disabled | | | +-------+------------------------------------------------------------------------------------------+ | | | 1 | Nose into wind | | | +-------+------------------------------------------------------------------------------------------+ | | | 2 | Nose or tail into wind | | | +-------+------------------------------------------------------------------------------------------+ | | | 3 | Side into wind | | | +-------+------------------------------------------------------------------------------------------+ | | | 4 | tail into wind | | | +-------+------------------------------------------------------------------------------------------+ | | | +------------------------------------------------------------------------------------------------------+ .. _Q_WVANE_GAIN: Q\_WVANE\_GAIN: Weathervaning gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This converts the target roll\/pitch angle of the aircraft into the correcting \(into wind\) yaw rate\. e\.g\. Gain \= 2\, roll \= 30 deg\, pitch \= 0 deg\, yaw rate \= 60 deg\/s\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.1 | 0.5 to 4 | +-----------+----------+ .. _Q_WVANE_ANG_MIN: Q\_WVANE\_ANG\_MIN: Weathervaning min angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The minimum target roll\/pitch angle before active weathervaning will start\. This provides a dead zone that is particularly useful for poorly trimmed quadplanes\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 0.1 | 0 to 10 | degrees | +-----------+---------+---------+ .. _Q_WVANE_HGT_MIN: Q\_WVANE\_HGT\_MIN: Weathervaning min height ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Above this height weathervaning is permitted\. If RNGFND\_LANDING is enabled or terrain is enabled then this parameter sets height AGL\. Otherwise this parameter sets height above home\. Set zero to ignore minimum height requirement to activate weathervaning +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 1 | 0 to 50 | meters | +-----------+---------+--------+ .. _Q_WVANE_SPD_MAX: Q\_WVANE\_SPD\_MAX: Weathervaning max ground speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Below this ground speed weathervaning is permitted\. Set to 0 to ignore this condition when checking if vehicle should weathervane\. +-----------+---------+-------------------+ | Increment | Range | Units | +===========+=========+===================+ | 0.1 | 0 to 50 | meters per second | +-----------+---------+-------------------+ .. _Q_WVANE_VELZ_MAX: Q\_WVANE\_VELZ\_MAX: Weathervaning max vertical speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The maximum climb or descent speed that the vehicle will still attempt to weathervane\. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb\/descent rate\. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent\. +-----------+--------+-------------------+ | Increment | Range | Units | +===========+========+===================+ | 0.1 | 0 to 5 | meters per second | +-----------+--------+-------------------+ .. _Q_WVANE_TAKEOFF: Q\_WVANE\_TAKEOFF: Takeoff override ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Override the weather vaning behaviour when in takeoffs +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | Value | Meaning | | | +=======+========================+ | | | -1 | No override | | | +-------+------------------------+ | | | 0 | Disabled | | | +-------+------------------------+ | | | 1 | Nose into wind | | | +-------+------------------------+ | | | 2 | Nose or tail into wind | | | +-------+------------------------+ | | | 3 | Side into wind | | | +-------+------------------------+ | | | 4 | tail into wind | | | +-------+------------------------+ | | | +------------------------------------+ .. _Q_WVANE_LAND: Q\_WVANE\_LAND: Landing override ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Override the weather vaning behaviour when in landing +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | Value | Meaning | | | +=======+========================+ | | | -1 | No override | | | +-------+------------------------+ | | | 0 | Disabled | | | +-------+------------------------+ | | | 1 | Nose into wind | | | +-------+------------------------+ | | | 2 | Nose or tail into wind | | | +-------+------------------------+ | | | 3 | Side into wind | | | +-------+------------------------+ | | | 4 | tail into wind | | | +-------+------------------------+ | | | +------------------------------------+ .. _Q_WVANE_OPTIONS: Q\_WVANE\_OPTIONS: Weathervaning options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Options impacting weathervaning behaviour +-------------------------------------------------------------------+ | Bitmask | +===================================================================+ | +-----+---------------------------------------------------------+ | | | Bit | Meaning | | | +=====+=========================================================+ | | | 0 | Use pitch when nose or tail-in for faster weathervaning | | | +-----+---------------------------------------------------------+ | | | +-------------------------------------------------------------------+ .. _parameters_RALLY_: RALLY\_ Parameters ------------------ .. _RALLY_TOTAL: RALLY\_TOTAL: Rally Total ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Number of rally points currently loaded .. _RALLY_LIMIT_KM: RALLY\_LIMIT\_KM: Rally Limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum distance to rally point\. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point\. This prevents a leftover rally point from a different airfield being used accidentally\. If this is set to 0 then the closest rally point is always used\. +-----------+------------+ | Increment | Units | +===========+============+ | 0.1 | kilometers | +-----------+------------+ .. _RALLY_INCL_HOME: RALLY\_INCL\_HOME: Rally Include Home ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Controls if Home is included as a Rally point \(i\.e\. as a safe landing place\) for RTL +------------------------------+ | Values | +==============================+ | +-------+------------------+ | | | Value | Meaning | | | +=======+==================+ | | | 0 | DoNotIncludeHome | | | +-------+------------------+ | | | 1 | IncludeHome | | | +-------+------------------+ | | | +------------------------------+ .. _parameters_RC: RC Parameters ------------- .. _RC_OVERRIDE_TIME: RC\_OVERRIDE\_TIME: RC override timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Timeout after which RC overrides will no longer be used\, and RC input will resume\, 0 will disable RC overrides\, \-1 will never timeout\, and continue using overrides until they are disabled +--------------+---------+ | Range | Units | +==============+=========+ | 0.0 to 120.0 | seconds | +--------------+---------+ .. _RC_OPTIONS: RC\_OPTIONS: RC options ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC input options +------------------------------------------------------------------------------+ | Bitmask | +==============================================================================+ | +-----+--------------------------------------------------------------------+ | | | Bit | Meaning | | | +=====+====================================================================+ | | | 0 | Ignore RC Receiver | | | +-----+--------------------------------------------------------------------+ | | | 1 | Ignore MAVLink Overrides | | | +-----+--------------------------------------------------------------------+ | | | 2 | Ignore Receiver Failsafe bit but allow other RC failsafes if setup | | | +-----+--------------------------------------------------------------------+ | | | 3 | FPort Pad | | | +-----+--------------------------------------------------------------------+ | | | 4 | Log RC input bytes | | | +-----+--------------------------------------------------------------------+ | | | 5 | Arming check throttle for 0 input | | | +-----+--------------------------------------------------------------------+ | | | 6 | Skip the arming check for neutral Roll/Pitch/Yaw sticks | | | +-----+--------------------------------------------------------------------+ | | | 7 | Allow Switch reverse | | | +-----+--------------------------------------------------------------------+ | | | 8 | Use passthrough for CRSF telemetry | | | +-----+--------------------------------------------------------------------+ | | | 9 | Suppress CRSF mode/rate message for ELRS systems | | | +-----+--------------------------------------------------------------------+ | | | 10 | Enable multiple receiver support | | | +-----+--------------------------------------------------------------------+ | | | 11 | Use Link Quality for RSSI with CRSF | | | +-----+--------------------------------------------------------------------+ | | | 12 | Annotate CRSF flight mode with * on disarm | | | +-----+--------------------------------------------------------------------+ | | | 13 | Use 420kbaud for ELRS protocol | | | +-----+--------------------------------------------------------------------+ | | | 14 | Clear MAVLink overrides on any stick input | | | +-----+--------------------------------------------------------------------+ | | | +------------------------------------------------------------------------------+ .. _RC_PROTOCOLS: RC\_PROTOCOLS: RC protocols enabled ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of enabled RC protocols\. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection\. Set to 1 to enable all protocols\. +--------------------+ | 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 | | | +-----+----------+ | | | 14 | DroneCAN | | | +-----+----------+ | | | 15 | Ghost | | | +-----+----------+ | | | 16 | MAVRadio | | | +-----+----------+ | | | 18 | SITL UDP | | | +-----+----------+ | | | +--------------------+ .. _RC_FS_TIMEOUT: RC\_FS\_TIMEOUT: RC Failsafe timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RC failsafe will trigger this many seconds after loss of RC +-------------+---------+ | Range | Units | +=============+=========+ | 0.1 to 10.0 | seconds | +-------------+---------+ .. _parameters_RC1_: RC1\_ Parameters ---------------- .. _RC1_MIN: RC1\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC1_TRIM: RC1\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC1_MAX: RC1\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC1_REVERSED: RC1\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC1_DZ: RC1\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC1_OPTION: RC1\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC2_: RC2\_ Parameters ---------------- .. _RC2_MIN: RC2\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC2_TRIM: RC2\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC2_MAX: RC2\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC2_REVERSED: RC2\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC2_DZ: RC2\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC2_OPTION: RC2\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC3_: RC3\_ Parameters ---------------- .. _RC3_MIN: RC3\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC3_TRIM: RC3\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC3_MAX: RC3\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC3_REVERSED: RC3\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC3_DZ: RC3\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC3_OPTION: RC3\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC4_: RC4\_ Parameters ---------------- .. _RC4_MIN: RC4\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC4_TRIM: RC4\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC4_MAX: RC4\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC4_REVERSED: RC4\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC4_DZ: RC4\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC4_OPTION: RC4\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC5_: RC5\_ Parameters ---------------- .. _RC5_MIN: RC5\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC5_TRIM: RC5\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC5_MAX: RC5\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC5_REVERSED: RC5\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC5_DZ: RC5\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC5_OPTION: RC5\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC6_: RC6\_ Parameters ---------------- .. _RC6_MIN: RC6\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC6_TRIM: RC6\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC6_MAX: RC6\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC6_REVERSED: RC6\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC6_DZ: RC6\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC6_OPTION: RC6\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC7_: RC7\_ Parameters ---------------- .. _RC7_MIN: RC7\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC7_TRIM: RC7\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC7_MAX: RC7\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC7_REVERSED: RC7\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC7_DZ: RC7\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC7_OPTION: RC7\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC8_: RC8\_ Parameters ---------------- .. _RC8_MIN: RC8\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC8_TRIM: RC8\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC8_MAX: RC8\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC8_REVERSED: RC8\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC8_DZ: RC8\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC8_OPTION: RC8\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC9_: RC9\_ Parameters ---------------- .. _RC9_MIN: RC9\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC9_TRIM: RC9\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC9_MAX: RC9\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC9_REVERSED: RC9\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC9_DZ: RC9\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC9_OPTION: RC9\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC10_: RC10\_ Parameters ----------------- .. _RC10_MIN: RC10\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC10_TRIM: RC10\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC10_MAX: RC10\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC10_REVERSED: RC10\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC10_DZ: RC10\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC10_OPTION: RC10\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC11_: RC11\_ Parameters ----------------- .. _RC11_MIN: RC11\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC11_TRIM: RC11\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC11_MAX: RC11\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC11_REVERSED: RC11\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC11_DZ: RC11\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC11_OPTION: RC11\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC12_: RC12\_ Parameters ----------------- .. _RC12_MIN: RC12\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC12_TRIM: RC12\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC12_MAX: RC12\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC12_REVERSED: RC12\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC12_DZ: RC12\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC12_OPTION: RC12\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC13_: RC13\_ Parameters ----------------- .. _RC13_MIN: RC13\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC13_TRIM: RC13\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC13_MAX: RC13\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC13_REVERSED: RC13\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC13_DZ: RC13\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC13_OPTION: RC13\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC14_: RC14\_ Parameters ----------------- .. _RC14_MIN: RC14\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC14_TRIM: RC14\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC14_MAX: RC14\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC14_REVERSED: RC14\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC14_DZ: RC14\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC14_OPTION: RC14\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC15_: RC15\_ Parameters ----------------- .. _RC15_MIN: RC15\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC15_TRIM: RC15\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC15_MAX: RC15\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC15_REVERSED: RC15\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC15_DZ: RC15\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC15_OPTION: RC15\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RC16_: RC16\_ Parameters ----------------- .. _RC16_MIN: RC16\_MIN: RC min PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC16_TRIM: RC16\_TRIM: RC trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC16_MAX: RC16\_MAX: RC max PWM ~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _RC16_REVERSED: RC16\_REVERSED: RC reversed ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _RC16_DZ: RC16\_DZ: RC dead\-zone ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* PWM dead zone in microseconds around trim or bottom +----------+---------------------+ | Range | Units | +==========+=====================+ | 0 to 200 | PWM in microseconds | +----------+---------------------+ .. _RC16_OPTION: RC16\_OPTION: RC input option ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Function assigned to this RC channel +-----------------------------------------------------------------+ | Values | +=================================================================+ | +-------+-----------------------------------------------------+ | | | Value | Meaning | | | +=======+=====================================================+ | | | 0 | Do Nothing | | | +-------+-----------------------------------------------------+ | | | 4 | RTL | | | +-------+-----------------------------------------------------+ | | | 9 | Camera Trigger | | | +-------+-----------------------------------------------------+ | | | 11 | Fence Enable | | | +-------+-----------------------------------------------------+ | | | 16 | AUTO Mode | | | +-------+-----------------------------------------------------+ | | | 22 | Parachute Release | | | +-------+-----------------------------------------------------+ | | | 24 | Auto Mission Reset | | | +-------+-----------------------------------------------------+ | | | 27 | Retract Mount1 | | | +-------+-----------------------------------------------------+ | | | 28 | Relay1 On/Off | | | +-------+-----------------------------------------------------+ | | | 29 | Landing Gear | | | +-------+-----------------------------------------------------+ | | | 30 | Lost Plane Sound | | | +-------+-----------------------------------------------------+ | | | 31 | Motor Emergency Stop | | | +-------+-----------------------------------------------------+ | | | 34 | Relay2 On/Off | | | +-------+-----------------------------------------------------+ | | | 35 | Relay3 On/Off | | | +-------+-----------------------------------------------------+ | | | 36 | Relay4 On/Off | | | +-------+-----------------------------------------------------+ | | | 38 | ADSB Avoidance Enable | | | +-------+-----------------------------------------------------+ | | | 43 | InvertedFlight Enable | | | +-------+-----------------------------------------------------+ | | | 46 | RC Override Enable | | | +-------+-----------------------------------------------------+ | | | 51 | MANUAL Mode | | | +-------+-----------------------------------------------------+ | | | 52 | ACRO Mode | | | +-------+-----------------------------------------------------+ | | | 55 | GUIDED Mode | | | +-------+-----------------------------------------------------+ | | | 56 | LOITER Mode | | | +-------+-----------------------------------------------------+ | | | 58 | Clear Waypoints | | | +-------+-----------------------------------------------------+ | | | 62 | Compass Learn | | | +-------+-----------------------------------------------------+ | | | 64 | Reverse Throttle | | | +-------+-----------------------------------------------------+ | | | 65 | GPS Disable | | | +-------+-----------------------------------------------------+ | | | 66 | Relay5 On/Off | | | +-------+-----------------------------------------------------+ | | | 67 | Relay6 On/Off | | | +-------+-----------------------------------------------------+ | | | 72 | CIRCLE Mode | | | +-------+-----------------------------------------------------+ | | | 77 | TAKEOFF Mode | | | +-------+-----------------------------------------------------+ | | | 78 | RunCam Control | | | +-------+-----------------------------------------------------+ | | | 79 | RunCam OSD Control | | | +-------+-----------------------------------------------------+ | | | 81 | Disarm | | | +-------+-----------------------------------------------------+ | | | 82 | QAssist 3pos | | | +-------+-----------------------------------------------------+ | | | 84 | AirMode | | | +-------+-----------------------------------------------------+ | | | 85 | Generator | | | +-------+-----------------------------------------------------+ | | | 86 | Non Auto Terrain Follow Disable | | | +-------+-----------------------------------------------------+ | | | 87 | Crow Select | | | +-------+-----------------------------------------------------+ | | | 88 | Soaring Enable | | | +-------+-----------------------------------------------------+ | | | 89 | Landing Flare | | | +-------+-----------------------------------------------------+ | | | 90 | EKF Source Set | | | +-------+-----------------------------------------------------+ | | | 91 | Airspeed Ratio Calibration | | | +-------+-----------------------------------------------------+ | | | 92 | FBWA Mode | | | +-------+-----------------------------------------------------+ | | | 94 | VTX Power | | | +-------+-----------------------------------------------------+ | | | 95 | FBWA taildragger takeoff mode | | | +-------+-----------------------------------------------------+ | | | 96 | Trigger re-reading of mode switch | | | +-------+-----------------------------------------------------+ | | | 98 | TRAINING Mode | | | +-------+-----------------------------------------------------+ | | | 100 | KillIMU1 | | | +-------+-----------------------------------------------------+ | | | 101 | KillIMU2 | | | +-------+-----------------------------------------------------+ | | | 102 | Camera Mode Toggle | | | +-------+-----------------------------------------------------+ | | | 103 | EKF lane switch attempt | | | +-------+-----------------------------------------------------+ | | | 104 | EKF yaw reset | | | +-------+-----------------------------------------------------+ | | | 105 | GPS Disable Yaw | | | +-------+-----------------------------------------------------+ | | | 106 | Disable Airspeed Use | | | +-------+-----------------------------------------------------+ | | | 107 | Enable FW Autotune | | | +-------+-----------------------------------------------------+ | | | 108 | QRTL Mode | | | +-------+-----------------------------------------------------+ | | | 109 | use Custom Controller | | | +-------+-----------------------------------------------------+ | | | 110 | KillIMU3 | | | +-------+-----------------------------------------------------+ | | | 111 | Loweheiser starter | | | +-------+-----------------------------------------------------+ | | | 112 | SwitchExternalAHRS | | | +-------+-----------------------------------------------------+ | | | 113 | Retract Mount2 | | | +-------+-----------------------------------------------------+ | | | 150 | CRUISE Mode | | | +-------+-----------------------------------------------------+ | | | 153 | ArmDisarm | | | +-------+-----------------------------------------------------+ | | | 154 | ArmDisarm with Quadplane AirMode | | | +-------+-----------------------------------------------------+ | | | 155 | Set roll pitch and yaw trim to current servo and RC | | | +-------+-----------------------------------------------------+ | | | 157 | Force FS Action to FBWA | | | +-------+-----------------------------------------------------+ | | | 158 | Optflow Calibration | | | +-------+-----------------------------------------------------+ | | | 160 | Weathervane Enable | | | +-------+-----------------------------------------------------+ | | | 162 | FFT Tune | | | +-------+-----------------------------------------------------+ | | | 163 | Mount Yaw Lock | | | +-------+-----------------------------------------------------+ | | | 164 | Pause Stream Logging | | | +-------+-----------------------------------------------------+ | | | 165 | Arm/Emergency Motor Stop | | | +-------+-----------------------------------------------------+ | | | 166 | Camera Record Video | | | +-------+-----------------------------------------------------+ | | | 167 | Camera Zoom | | | +-------+-----------------------------------------------------+ | | | 168 | Camera Manual Focus | | | +-------+-----------------------------------------------------+ | | | 169 | Camera Auto Focus | | | +-------+-----------------------------------------------------+ | | | 170 | QSTABILIZE Mode | | | +-------+-----------------------------------------------------+ | | | 171 | Calibrate Compasses | | | +-------+-----------------------------------------------------+ | | | 172 | Battery MPPT Enable | | | +-------+-----------------------------------------------------+ | | | 173 | Plane AUTO Mode Landing Abort | | | +-------+-----------------------------------------------------+ | | | 174 | Camera Image Tracking | | | +-------+-----------------------------------------------------+ | | | 175 | Camera Lens | | | +-------+-----------------------------------------------------+ | | | 176 | Quadplane Fwd Throttle Override enable | | | +-------+-----------------------------------------------------+ | | | 177 | Mount LRF enable | | | +-------+-----------------------------------------------------+ | | | 179 | ICEngine start / stop | | | +-------+-----------------------------------------------------+ | | | 180 | Test autotuned gains after tune is complete | | | +-------+-----------------------------------------------------+ | | | 181 | QuickTune | | | +-------+-----------------------------------------------------+ | | | 183 | AUTOLAND mode | | | +-------+-----------------------------------------------------+ | | | 184 | System ID Chirp | | | +-------+-----------------------------------------------------+ | | | 185 | Mount Roll/Pitch Lock | | | +-------+-----------------------------------------------------+ | | | 186 | Mount POI Lock | | | +-------+-----------------------------------------------------+ | | | 187 | EKF Reset | | | +-------+-----------------------------------------------------+ | | | 208 | Flap | | | +-------+-----------------------------------------------------+ | | | 209 | VTOL Forward Throttle | | | +-------+-----------------------------------------------------+ | | | 210 | Airbrakes | | | +-------+-----------------------------------------------------+ | | | 212 | Mount1 Roll | | | +-------+-----------------------------------------------------+ | | | 213 | Mount1 Pitch | | | +-------+-----------------------------------------------------+ | | | 214 | Mount1 Yaw | | | +-------+-----------------------------------------------------+ | | | 215 | Mount2 Roll | | | +-------+-----------------------------------------------------+ | | | 216 | Mount2 Pitch | | | +-------+-----------------------------------------------------+ | | | 217 | Mount2 Yaw | | | +-------+-----------------------------------------------------+ | | | 218 | Loweheiser throttle | | | +-------+-----------------------------------------------------+ | | | 300 | Scripting1 | | | +-------+-----------------------------------------------------+ | | | 301 | Scripting2 | | | +-------+-----------------------------------------------------+ | | | 302 | Scripting3 | | | +-------+-----------------------------------------------------+ | | | 303 | Scripting4 | | | +-------+-----------------------------------------------------+ | | | 304 | Scripting5 | | | +-------+-----------------------------------------------------+ | | | 305 | Scripting6 | | | +-------+-----------------------------------------------------+ | | | 306 | Scripting7 | | | +-------+-----------------------------------------------------+ | | | 307 | Scripting8 | | | +-------+-----------------------------------------------------+ | | | 308 | Scripting9 | | | +-------+-----------------------------------------------------+ | | | 309 | Scripting10 | | | +-------+-----------------------------------------------------+ | | | 310 | Scripting11 | | | +-------+-----------------------------------------------------+ | | | 311 | Scripting12 | | | +-------+-----------------------------------------------------+ | | | 312 | Scripting13 | | | +-------+-----------------------------------------------------+ | | | 313 | Scripting14 | | | +-------+-----------------------------------------------------+ | | | 314 | Scripting15 | | | +-------+-----------------------------------------------------+ | | | 315 | Scripting16 | | | +-------+-----------------------------------------------------+ | | | 316 | Stop-Restart Scripting | | | +-------+-----------------------------------------------------+ | | | +-----------------------------------------------------------------+ .. _parameters_RCMAP_: RCMAP\_ Parameters ------------------ .. _RCMAP_ROLL: RCMAP\_ROLL: Roll channel ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Roll channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Roll is normally on channel 1\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 16 | +-----------+---------+ .. _RCMAP_PITCH: RCMAP\_PITCH: Pitch channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Pitch channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Pitch is normally on channel 2\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 16 | +-----------+---------+ .. _RCMAP_THROTTLE: RCMAP\_THROTTLE: Throttle channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Throttle channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Throttle is normally on channel 3\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 16 | +-----------+---------+ .. _RCMAP_YAW: RCMAP\_YAW: Yaw channel ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Yaw channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Yaw \(also known as rudder\) is normally on channel 4\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 1 to 16 | +-----------+---------+ .. _parameters_RELAY1_: RELAY1\_ Parameters ------------------- .. _RELAY1_FUNCTION: RELAY1\_FUNCTION: Relay function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The function the relay channel is mapped to\. +-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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 | | | +=======+=============+ | | | 0 | None | | | +-------+-------------+ | | | 1 | Relay | | | +-------+-------------+ | | | 2 | Ignition | | | +-------+-------------+ | | | 3 | Parachute | | | +-------+-------------+ | | | 4 | Camera | | | +-------+-------------+ | | | 9 | ICE Starter | | | +-------+-------------+ | | | +-------------------------+ .. _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_RLL: RLL Parameters -------------- .. _RLL2SRV_TCONST: RLL2SRV\_TCONST: Roll Time Constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time constant in seconds from demanded to achieved roll angle\. Most models respond well to 0\.5\. May be reduced for faster responses\, but setting lower than a model can achieve will not help\. +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.1 | 0.4 to 1.0 | seconds | +-----------+------------+---------+ .. _RLL2SRV_RMAX: RLL2SRV\_RMAX: Maximum Roll Rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the maximum roll rate that the attitude controller will demand \(degrees\/sec\) in angle stabilized modes\. Setting it to zero disables this limit\. +-----------+----------+--------------------+ | Increment | Range | Units | +===========+==========+====================+ | 1 | 0 to 180 | degrees per second | +-----------+----------+--------------------+ .. _RLL_RATE_P: RLL\_RATE\_P: Roll axis rate controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.005 | 0.08 to 0.35 | +-----------+--------------+ .. _RLL_RATE_I: RLL\_RATE\_I: Roll axis rate controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.01 | 0.01 to 0.6 | +-----------+-------------+ .. _RLL_RATE_IMAX: RLL\_RATE\_IMAX: Roll axis rate controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _RLL_RATE_D: RLL\_RATE\_D: Roll axis rate controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate +-----------+---------------+ | Increment | Range | +===========+===============+ | 0.001 | 0.001 to 0.03 | +-----------+---------------+ .. _RLL_RATE_FF: RLL\_RATE\_FF: Roll axis rate controller feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller feed forward +-----------+----------+ | Increment | Range | +===========+==========+ | 0.001 | 0 to 3.0 | +-----------+----------+ .. _RLL_RATE_FLTT: RLL\_RATE\_FLTT: Roll axis rate controller target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller target frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 2 to 50 | hertz | +-----------+---------+-------+ .. _RLL_RATE_FLTE: RLL\_RATE\_FLTE: Roll axis rate controller error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller error frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 2 to 50 | hertz | +-----------+---------+-------+ .. _RLL_RATE_FLTD: RLL\_RATE\_FLTD: Roll axis rate controller derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller derivative frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _RLL_RATE_SMAX: RLL\_RATE\_SMAX: Roll slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _RLL_RATE_PDMX: RLL\_RATE\_PDMX: Roll axis rate controller PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Roll axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _RLL_RATE_D_FF: RLL\_RATE\_D\_FF: Roll Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.001 | 0 to 0.03 | +-----------+-----------+ .. _RLL_RATE_NTF: RLL\_RATE\_NTF: Roll Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _RLL_RATE_NEF: RLL\_RATE\_NEF: Roll Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _RLL2SRV_ACCEL: RLL2SRV\_ACCEL: Roll max acceleration ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll acceleration limit\. Setting to zero disables input shaping\. +-----------+-----------+---------------------------+ | Increment | Range | Units | +===========+===========+===========================+ | 1 | 0 to 2500 | degrees per square second | +-----------+-----------+---------------------------+ .. _RLL_ANGLE_P: RLL\_ANGLE\_P: Roll angle P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Roll angle P gain\. If zero a gain of \(1 \/ RLL2SRV\_TCONST\) will be used\. +-----------+-----------------+ | Increment | Range | +===========+=================+ | 0.01 | 0.000 to 12.000 | +-----------+-----------------+ .. _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 assign to this backend +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -1 to 10 | +-----------+----------+ .. _parameters_RPM2_: RPM2\_ Parameters ----------------- .. _RPM2_TYPE: RPM2\_TYPE: RPM type ~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of RPM sensor is connected +------------------------------------------+ | 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 assign to this backend +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -1 to 10 | +-----------+----------+ .. _parameters_RPM3_: RPM3\_ Parameters ----------------- .. _RPM3_TYPE: RPM3\_TYPE: RPM type ~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of RPM sensor is connected +------------------------------------------+ | 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 assign to this backend +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -1 to 10 | +-----------+----------+ .. _parameters_RPM4_: RPM4\_ Parameters ----------------- .. _RPM4_TYPE: RPM4\_TYPE: RPM type ~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* What type of RPM sensor is connected +------------------------------------------+ | 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 assign to this backend +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -1 to 10 | +-----------+----------+ .. _parameters_RSSI_: RSSI\_ Parameters ----------------- .. _RSSI_TYPE: RSSI\_TYPE: RSSI Type ~~~~~~~~~~~~~~~~~~~~~ Radio Receiver RSSI type\. If your radio receiver supports RSSI of some kind\, set it here\, then set its associated RSSI\_XXXXX parameters\, if any\. +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | Value | Meaning | | | +=======+====================+ | | | 0 | Disabled | | | +-------+--------------------+ | | | 1 | AnalogPin | | | +-------+--------------------+ | | | 2 | RCChannelPwmValue | | | +-------+--------------------+ | | | 3 | ReceiverProtocol | | | +-------+--------------------+ | | | 4 | PWMInputPin | | | +-------+--------------------+ | | | 5 | TelemetryRadioRSSI | | | +-------+--------------------+ | | | +--------------------------------+ .. _RSSI_ANA_PIN: RSSI\_ANA\_PIN: Receiver RSSI sensing pin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Pin used to read the RSSI voltage or PWM value\. Analog Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. +-----------+---------------------------------------+ | Range | Values | +===========+=======================================+ | -1 to 127 | +-------+---------------------------+ | | | | Value | Meaning | | | | +=======+===========================+ | | | | 8 | V5 Nano | | | | +-------+---------------------------+ | | | | 11 | Pixracer | | | | +-------+---------------------------+ | | | | 13 | Pixhawk ADC4 | | | | +-------+---------------------------+ | | | | 14 | Pixhawk ADC3 | | | | +-------+---------------------------+ | | | | 15 | Pixhawk ADC6/Pixhawk2 ADC | | | | +-------+---------------------------+ | | | | 50 | AUX1 | | | | +-------+---------------------------+ | | | | 51 | AUX2 | | | | +-------+---------------------------+ | | | | 52 | AUX3 | | | | +-------+---------------------------+ | | | | 53 | AUX4 | | | | +-------+---------------------------+ | | | | 54 | AUX5 | | | | +-------+---------------------------+ | | | | 55 | AUX6 | | | | +-------+---------------------------+ | | | | 103 | Pixhawk SBUS | | | | +-------+---------------------------+ | | | | +-----------+---------------------------------------+ .. _RSSI_PIN_LOW: RSSI\_PIN\_LOW: RSSI pin\'s lowest voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers put out inverted values so this value may be higher than RSSI\_PIN\_HIGH\. When using pin 103\, the maximum value of the parameter is 3\.3V\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 0.01 | 0 to 5.0 | volt | +-----------+----------+-------+ .. _RSSI_PIN_HIGH: RSSI\_PIN\_HIGH: RSSI pin\'s highest voltage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers put out inverted values so this value may be lower than RSSI\_PIN\_LOW\. When using pin 103\, the maximum value of the parameter is 3\.3V\. +-----------+----------+-------+ | Increment | Range | Units | +===========+==========+=======+ | 0.01 | 0 to 5.0 | volt | +-----------+----------+-------+ .. _RSSI_CHANNEL: RSSI\_CHANNEL: Receiver RSSI channel number ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The channel number where RSSI will be output by the radio receiver \(5 and above\)\. +---------+ | Range | +=========+ | 0 to 16 | +---------+ .. _RSSI_CHAN_LOW: RSSI\_CHAN\_LOW: RSSI PWM low value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers output inverted values so this value may be lower than RSSI\_CHAN\_HIGH +-----------+---------------------+ | Range | Units | +===========+=====================+ | 0 to 2000 | PWM in microseconds | +-----------+---------------------+ .. _RSSI_CHAN_HIGH: RSSI\_CHAN\_HIGH: Receiver RSSI PWM high value ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers output inverted values so this value may be higher than RSSI\_CHAN\_LOW +-----------+---------------------+ | Range | Units | +===========+=====================+ | 0 to 2000 | PWM in microseconds | +-----------+---------------------+ .. _parameters_SCHED_: SCHED\_ Parameters ------------------ .. _SCHED_DEBUG: SCHED\_DEBUG: Scheduler debug level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Set to non\-zero to enable scheduler debug messages\. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load\. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table\. +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Disabled | | | +-------+--------------+ | | | 2 | ShowSlips | | | +-------+--------------+ | | | 3 | ShowOverruns | | | +-------+--------------+ | | | +--------------------------+ .. _SCHED_LOOP_RATE: SCHED\_LOOP\_RATE: Scheduling main loop rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This controls the rate of the main control loop in Hz\. This should only be changed by developers\. This only takes effect on restart\. Values over 400 are considered highly experimental\. +-----------+-------+ | Range | Units | +===========+=======+ | 50 to 400 | hertz | +-----------+-------+ .. _SCHED_OPTIONS: SCHED\_OPTIONS: Scheduling options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls optional aspects of the scheduler\. +-------------------------------------+ | Bitmask | +=====================================+ | +-----+---------------------------+ | | | Bit | Meaning | | | +=====+===========================+ | | | 0 | Enable per-task perf info | | | +-----+---------------------------+ | | | +-------------------------------------+ .. _parameters_SCR_: SCR\_ Parameters ---------------- .. _SCR_ENABLE: SCR\_ENABLE: Enable Scripting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Controls if scripting is enabled +-------------------------+ | 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_SERVO: SERVO Parameters ---------------- .. _SERVO_AUTO_TRIM: SERVO\_AUTO\_TRIM: Automatic servo trim ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables automatic servo trim in flight\. Servos will be trimed in stabilized flight modes when the aircraft is close to level\. Changes to servo trim will be saved every 10 seconds and will persist between flights\. The automatic trim won\'t go more than 20\% away from a centered trim\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _SERVO_RATE: SERVO\_RATE: Servo default output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Default output rate in Hz for all PWM outputs\. +-----------+-------+ | Range | Units | +===========+=======+ | 25 to 400 | hertz | +-----------+-------+ .. _SERVO_DSHOT_RATE: SERVO\_DSHOT\_RATE: Servo DShot output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DShot output rate for all outputs as a multiple of the loop rate\. 0 sets the output rate to be fixed at 1Khz for low loop rates\. This value should never be set below 500Hz\. +---------------------------------+ | Values | +=================================+ | +-------+---------------------+ | | | Value | Meaning | | | +=======+=====================+ | | | 0 | 1Khz | | | +-------+---------------------+ | | | 1 | loop-rate | | | +-------+---------------------+ | | | 2 | double loop-rate | | | +-------+---------------------+ | | | 3 | triple loop-rate | | | +-------+---------------------+ | | | 4 | quadruple loop rate | | | +-------+---------------------+ | | | +---------------------------------+ .. _SERVO_DSHOT_ESC: SERVO\_DSHOT\_ESC: Servo DShot ESC type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* DShot ESC type for all outputs\. The ESC type affects the range of DShot commands available and the bit widths used\. None means that no dshot commands will be executed\. Some ESC types support Extended DShot Telemetry \(EDT\) which allows telemetry other than RPM data to be returned when using bi\-directional dshot\. If you enable EDT you must install EDT capable firmware for correct operation\. +------------------------------------+ | Values | +====================================+ | +-------+------------------------+ | | | Value | Meaning | | | +=======+========================+ | | | 0 | None | | | +-------+------------------------+ | | | 1 | BLHeli32/Kiss/AM32 | | | +-------+------------------------+ | | | 2 | BLHeli_S/BlueJay | | | +-------+------------------------+ | | | 3 | BLHeli32/AM32/Kiss+EDT | | | +-------+------------------------+ | | | 4 | BLHeli_S/BlueJay+EDT | | | +-------+------------------------+ | | | +------------------------------------+ .. _SERVO_GPIO_MASK: SERVO\_GPIO\_MASK: Servo GPIO mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Bitmask of outputs which will be available as GPIOs\. Any output with either the function set to \-1 or with the corresponding bit set in this mask will be available for use as a GPIO pin +--------------------+ | 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 | | | +-----+----------+ | | | +--------------------+ .. _SERVO_RC_FS_MSK: SERVO\_RC\_FS\_MSK: Servo RC Failsafe Mask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe\. +-------------------------+ | 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 | | | +-----+---------------+ | | | +-------------------------+ .. _SERVO_32_ENABLE: SERVO\_32\_ENABLE: Enable outputs 17 to 31 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This allows for up to 32 outputs\, enabling parameters for outputs above 16 +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _parameters_SERVO1_: SERVO1\_ Parameters ------------------- .. _SERVO1_MIN: SERVO1\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO1_MAX: SERVO1\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO1_TRIM: SERVO1\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO1_REVERSED: SERVO1\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO1_FUNCTION: SERVO1\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO2_: SERVO2\_ Parameters ------------------- .. _SERVO2_MIN: SERVO2\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO2_MAX: SERVO2\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO2_TRIM: SERVO2\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO2_REVERSED: SERVO2\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO2_FUNCTION: SERVO2\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO3_: SERVO3\_ Parameters ------------------- .. _SERVO3_MIN: SERVO3\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO3_MAX: SERVO3\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO3_TRIM: SERVO3\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO3_REVERSED: SERVO3\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO3_FUNCTION: SERVO3\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO4_: SERVO4\_ Parameters ------------------- .. _SERVO4_MIN: SERVO4\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO4_MAX: SERVO4\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO4_TRIM: SERVO4\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO4_REVERSED: SERVO4\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO4_FUNCTION: SERVO4\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO5_: SERVO5\_ Parameters ------------------- .. _SERVO5_MIN: SERVO5\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO5_MAX: SERVO5\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO5_TRIM: SERVO5\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO5_REVERSED: SERVO5\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO5_FUNCTION: SERVO5\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO6_: SERVO6\_ Parameters ------------------- .. _SERVO6_MIN: SERVO6\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO6_MAX: SERVO6\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO6_TRIM: SERVO6\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO6_REVERSED: SERVO6\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO6_FUNCTION: SERVO6\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO7_: SERVO7\_ Parameters ------------------- .. _SERVO7_MIN: SERVO7\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO7_MAX: SERVO7\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO7_TRIM: SERVO7\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO7_REVERSED: SERVO7\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO7_FUNCTION: SERVO7\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO8_: SERVO8\_ Parameters ------------------- .. _SERVO8_MIN: SERVO8\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO8_MAX: SERVO8\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO8_TRIM: SERVO8\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO8_REVERSED: SERVO8\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO8_FUNCTION: SERVO8\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO9_: SERVO9\_ Parameters ------------------- .. _SERVO9_MIN: SERVO9\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO9_MAX: SERVO9\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO9_TRIM: SERVO9\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO9_REVERSED: SERVO9\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO9_FUNCTION: SERVO9\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO10_: SERVO10\_ Parameters -------------------- .. _SERVO10_MIN: SERVO10\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO10_MAX: SERVO10\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO10_TRIM: SERVO10\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO10_REVERSED: SERVO10\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO10_FUNCTION: SERVO10\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO11_: SERVO11\_ Parameters -------------------- .. _SERVO11_MIN: SERVO11\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO11_MAX: SERVO11\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO11_TRIM: SERVO11\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO11_REVERSED: SERVO11\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO11_FUNCTION: SERVO11\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO12_: SERVO12\_ Parameters -------------------- .. _SERVO12_MIN: SERVO12\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO12_MAX: SERVO12\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO12_TRIM: SERVO12\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO12_REVERSED: SERVO12\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO12_FUNCTION: SERVO12\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO13_: SERVO13\_ Parameters -------------------- .. _SERVO13_MIN: SERVO13\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO13_MAX: SERVO13\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO13_TRIM: SERVO13\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO13_REVERSED: SERVO13\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO13_FUNCTION: SERVO13\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO14_: SERVO14\_ Parameters -------------------- .. _SERVO14_MIN: SERVO14\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO14_MAX: SERVO14\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO14_TRIM: SERVO14\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO14_REVERSED: SERVO14\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO14_FUNCTION: SERVO14\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO15_: SERVO15\_ Parameters -------------------- .. _SERVO15_MIN: SERVO15\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO15_MAX: SERVO15\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO15_TRIM: SERVO15\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO15_REVERSED: SERVO15\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO15_FUNCTION: SERVO15\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO16_: SERVO16\_ Parameters -------------------- .. _SERVO16_MIN: SERVO16\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO16_MAX: SERVO16\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO16_TRIM: SERVO16\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO16_REVERSED: SERVO16\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO16_FUNCTION: SERVO16\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO17_: SERVO17\_ Parameters -------------------- .. _SERVO17_MIN: SERVO17\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO17_MAX: SERVO17\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO17_TRIM: SERVO17\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO17_REVERSED: SERVO17\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO17_FUNCTION: SERVO17\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO18_: SERVO18\_ Parameters -------------------- .. _SERVO18_MIN: SERVO18\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO18_MAX: SERVO18\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO18_TRIM: SERVO18\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO18_REVERSED: SERVO18\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO18_FUNCTION: SERVO18\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO19_: SERVO19\_ Parameters -------------------- .. _SERVO19_MIN: SERVO19\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO19_MAX: SERVO19\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO19_TRIM: SERVO19\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO19_REVERSED: SERVO19\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO19_FUNCTION: SERVO19\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO20_: SERVO20\_ Parameters -------------------- .. _SERVO20_MIN: SERVO20\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO20_MAX: SERVO20\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO20_TRIM: SERVO20\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO20_REVERSED: SERVO20\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO20_FUNCTION: SERVO20\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO21_: SERVO21\_ Parameters -------------------- .. _SERVO21_MIN: SERVO21\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO21_MAX: SERVO21\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO21_TRIM: SERVO21\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO21_REVERSED: SERVO21\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO21_FUNCTION: SERVO21\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO22_: SERVO22\_ Parameters -------------------- .. _SERVO22_MIN: SERVO22\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO22_MAX: SERVO22\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO22_TRIM: SERVO22\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO22_REVERSED: SERVO22\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO22_FUNCTION: SERVO22\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO23_: SERVO23\_ Parameters -------------------- .. _SERVO23_MIN: SERVO23\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO23_MAX: SERVO23\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO23_TRIM: SERVO23\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO23_REVERSED: SERVO23\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO23_FUNCTION: SERVO23\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO24_: SERVO24\_ Parameters -------------------- .. _SERVO24_MIN: SERVO24\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO24_MAX: SERVO24\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO24_TRIM: SERVO24\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO24_REVERSED: SERVO24\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO24_FUNCTION: SERVO24\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO25_: SERVO25\_ Parameters -------------------- .. _SERVO25_MIN: SERVO25\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO25_MAX: SERVO25\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO25_TRIM: SERVO25\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO25_REVERSED: SERVO25\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO25_FUNCTION: SERVO25\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO26_: SERVO26\_ Parameters -------------------- .. _SERVO26_MIN: SERVO26\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO26_MAX: SERVO26\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO26_TRIM: SERVO26\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO26_REVERSED: SERVO26\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO26_FUNCTION: SERVO26\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO27_: SERVO27\_ Parameters -------------------- .. _SERVO27_MIN: SERVO27\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO27_MAX: SERVO27\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO27_TRIM: SERVO27\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO27_REVERSED: SERVO27\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO27_FUNCTION: SERVO27\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO28_: SERVO28\_ Parameters -------------------- .. _SERVO28_MIN: SERVO28\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO28_MAX: SERVO28\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO28_TRIM: SERVO28\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO28_REVERSED: SERVO28\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO28_FUNCTION: SERVO28\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO29_: SERVO29\_ Parameters -------------------- .. _SERVO29_MIN: SERVO29\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO29_MAX: SERVO29\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO29_TRIM: SERVO29\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO29_REVERSED: SERVO29\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO29_FUNCTION: SERVO29\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO30_: SERVO30\_ Parameters -------------------- .. _SERVO30_MIN: SERVO30\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO30_MAX: SERVO30\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO30_TRIM: SERVO30\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO30_REVERSED: SERVO30\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO30_FUNCTION: SERVO30\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO31_: SERVO31\_ Parameters -------------------- .. _SERVO31_MIN: SERVO31\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO31_MAX: SERVO31\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO31_TRIM: SERVO31\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO31_REVERSED: SERVO31\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO31_FUNCTION: SERVO31\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO32_: SERVO32\_ Parameters -------------------- .. _SERVO32_MIN: SERVO32\_MIN: Minimum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO32_MAX: SERVO32\_MAX: Maximum PWM ~~~~~~~~~~~~~~~~~~~~~~~~~ maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO32_TRIM: SERVO32\_TRIM: Trim PWM ~~~~~~~~~~~~~~~~~~~~~~~ Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. +-----------+-------------+---------------------+ | Increment | Range | Units | +===========+=============+=====================+ | 1 | 800 to 2200 | PWM in microseconds | +-----------+-------------+---------------------+ .. _SERVO32_REVERSED: SERVO32\_REVERSED: Servo reverse ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Normal | | | +-------+----------+ | | | 1 | Reversed | | | +-------+----------+ | | | +----------------------+ .. _SERVO32_FUNCTION: SERVO32\_FUNCTION: Servo output function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function +---------------------------------------+ | 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 | | | +-------+---------------------------+ | | | 33 | Motor1 | | | +-------+---------------------------+ | | | 34 | Motor2 | | | +-------+---------------------------+ | | | 35 | Motor3 | | | +-------+---------------------------+ | | | 36 | Motor4 | | | +-------+---------------------------+ | | | 37 | Motor5 | | | +-------+---------------------------+ | | | 38 | Motor6 | | | +-------+---------------------------+ | | | 39 | Motor7/TailTiltServo | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 73 | ThrottleLeft | | | +-------+---------------------------+ | | | 74 | ThrottleRight | | | +-------+---------------------------+ | | | 75 | TiltMotorFrontLeft | | | +-------+---------------------------+ | | | 76 | TiltMotorFrontRight | | | +-------+---------------------------+ | | | 77 | ElevonLeft | | | +-------+---------------------------+ | | | 78 | ElevonRight | | | +-------+---------------------------+ | | | 79 | VTailLeft | | | +-------+---------------------------+ | | | 80 | VTailRight | | | +-------+---------------------------+ | | | 82 | Motor9 | | | +-------+---------------------------+ | | | 83 | Motor10 | | | +-------+---------------------------+ | | | 84 | Motor11 | | | +-------+---------------------------+ | | | 85 | Motor12 | | | +-------+---------------------------+ | | | 86 | DifferentialSpoilerLeft2 | | | +-------+---------------------------+ | | | 87 | DifferentialSpoilerRight2 | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 110 | Airbrakes | | | +-------+---------------------------+ | | | 120 | NeoPixel1 | | | +-------+---------------------------+ | | | 121 | NeoPixel2 | | | +-------+---------------------------+ | | | 122 | NeoPixel3 | | | +-------+---------------------------+ | | | 123 | NeoPixel4 | | | +-------+---------------------------+ | | | 124 | RateRoll | | | +-------+---------------------------+ | | | 125 | RatePitch | | | +-------+---------------------------+ | | | 126 | RateThrust | | | +-------+---------------------------+ | | | 127 | RateYaw | | | +-------+---------------------------+ | | | 129 | ProfiLED1 | | | +-------+---------------------------+ | | | 130 | ProfiLED2 | | | +-------+---------------------------+ | | | 131 | ProfiLED3 | | | +-------+---------------------------+ | | | 132 | ProfiLEDClock | | | +-------+---------------------------+ | | | 134 | SERVOn_MIN | | | +-------+---------------------------+ | | | 135 | SERVOn_TRIM | | | +-------+---------------------------+ | | | 136 | SERVOn_MAX | | | +-------+---------------------------+ | | | 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 | | | +-------+---------------------------+ | | | 160 | Motor13 | | | +-------+---------------------------+ | | | 161 | Motor14 | | | +-------+---------------------------+ | | | 162 | Motor15 | | | +-------+---------------------------+ | | | 163 | Motor16 | | | +-------+---------------------------+ | | | 164 | Motor17 | | | +-------+---------------------------+ | | | 165 | Motor18 | | | +-------+---------------------------+ | | | 166 | Motor19 | | | +-------+---------------------------+ | | | 167 | Motor20 | | | +-------+---------------------------+ | | | 168 | Motor21 | | | +-------+---------------------------+ | | | 169 | Motor22 | | | +-------+---------------------------+ | | | 170 | Motor23 | | | +-------+---------------------------+ | | | 171 | Motor24 | | | +-------+---------------------------+ | | | 172 | Motor25 | | | +-------+---------------------------+ | | | 173 | Motor26 | | | +-------+---------------------------+ | | | 174 | Motor27 | | | +-------+---------------------------+ | | | 175 | Motor28 | | | +-------+---------------------------+ | | | 176 | Motor29 | | | +-------+---------------------------+ | | | 177 | Motor30 | | | +-------+---------------------------+ | | | 178 | Motor31 | | | +-------+---------------------------+ | | | 179 | Motor32 | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _parameters_SERVO_BLH_: SERVO\_BLH\_ Parameters ----------------------- .. _SERVO_BLH_MASK: SERVO\_BLH\_MASK: BLHeli Channel Bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Enable of BLHeli pass\-thru servo protocol support to specific channels\. This mask is in addition to motors enabled using SERVO\_BLH\_AUTO \(if any\) +----------------------+ | 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 | | | +-----+------------+ | | | +----------------------+ .. _SERVO_BLH_AUTO: SERVO\_BLH\_AUTO: BLHeli pass\-thru auto\-enable for multicopter motors ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* If set to 1 this auto\-enables BLHeli pass\-thru support for all multicopter motors +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SERVO_BLH_TEST: SERVO\_BLH\_TEST: BLHeli internal interface test ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Setting SERVO\_BLH\_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC\. The debug output is displayed on the USB console\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | Disabled | | | +-------+------------+ | | | 1 | TestMotor1 | | | +-------+------------+ | | | 2 | TestMotor2 | | | +-------+------------+ | | | 3 | TestMotor3 | | | +-------+------------+ | | | 4 | TestMotor4 | | | +-------+------------+ | | | 5 | TestMotor5 | | | +-------+------------+ | | | 6 | TestMotor6 | | | +-------+------------+ | | | 7 | TestMotor7 | | | +-------+------------+ | | | 8 | TestMotor8 | | | +-------+------------+ | | | +------------------------+ .. _SERVO_BLH_TMOUT: SERVO\_BLH\_TMOUT: BLHeli protocol timeout ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the inactivity timeout for the BLHeli protocol in seconds\. If no packets are received in this time normal MAVLink operations are resumed\. A value of 0 means no timeout +----------+---------+ | Range | Units | +==========+=========+ | 0 to 300 | seconds | +----------+---------+ .. _SERVO_BLH_TRATE: SERVO\_BLH\_TRATE: BLHeli telemetry rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the rate in Hz for requesting telemetry from ESCs\. It is the rate per ESC\. Setting to zero disables telemetry requests +----------+-------+ | Range | Units | +==========+=======+ | 0 to 500 | hertz | +----------+-------+ .. _SERVO_BLH_DEBUG: SERVO\_BLH\_DEBUG: BLHeli debug level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active\. This can be used to diagnose failures\. +----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+ .. _SERVO_BLH_OTYPE: SERVO\_BLH\_OTYPE: BLHeli output type override ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* When set to a non\-zero value this overrides the output type for the output channels given by SERVO\_BLH\_MASK\. This can be used to enable DShot on outputs that are not part of the multicopter motors group\. +------------------------+ | Values | +========================+ | +-------+------------+ | | | Value | Meaning | | | +=======+============+ | | | 0 | None | | | +-------+------------+ | | | 1 | OneShot | | | +-------+------------+ | | | 2 | OneShot125 | | | +-------+------------+ | | | 3 | Brushed | | | +-------+------------+ | | | 4 | DShot150 | | | +-------+------------+ | | | 5 | DShot300 | | | +-------+------------+ | | | 6 | DShot600 | | | +-------+------------+ | | | 7 | DShot1200 | | | +-------+------------+ | | | +------------------------+ .. _SERVO_BLH_PORT: SERVO\_BLH\_PORT: Control port ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the mavlink channel to use for blheli pass\-thru\. The channel number is determined by the number of serial ports configured to use mavlink\. So 0 is always the console\, 1 is the next serial port using mavlink\, 2 the next after that and so on\. +-------------------------------------+ | 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 | | | +-------+-------------------------+ | | | +-------------------------------------+ .. _SERVO_BLH_POLES: SERVO\_BLH\_POLES: BLHeli Motor Poles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* This allows calculation of true RPM from ESC\'s eRPM\. The default is 14\. +----------+ | Range | +==========+ | 1 to 127 | +----------+ .. _SERVO_BLH_3DMASK: SERVO\_BLH\_3DMASK: BLHeli bitmask of 3D channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Mask of channels which are dynamically reversible\. This is used to configure ESCs in \'3D\' mode\, allowing for the motor to spin in either direction\. Note that setting an ESC as reversible with this option on AM32 will result in the forward direction of the ESC changing\. You can combine with parameter with the SERVO\_BLH\_RVMASK parameter to maintain the same direction when the ESC is in 3D mode as it has in unidirectional \(non\-3D\) mode\. +----------------------+ | 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 | | | +-----+------------+ | | | +----------------------+ .. _SERVO_BLH_BDMASK: SERVO\_BLH\_BDMASK: BLHeli bitmask of bi\-directional dshot channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Mask of channels which support bi\-directional dshot telemetry\. This is used for ESCs which have firmware that supports bi\-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch\. +----------------------+ | 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 | | | +-----+------------+ | | | +----------------------+ .. _SERVO_BLH_RVMASK: SERVO\_BLH\_RVMASK: BLHeli bitmask of reversed channels ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Mask of channels which are reversed\. This is used to configure ESCs to reverse motor direction\. Note that when combined with SERVO\_BLH\_3DMASK this will change what direction is considered to be forward\. +----------------------+ | 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_SERVO_FTW_: SERVO\_FTW\_ Parameters ----------------------- .. _SERVO_FTW_MASK: SERVO\_FTW\_MASK: Servo channel output bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: Reboot required after change* Servo channel mask specifying FETtec ESC output\. +-------------------+ | 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 | | | +-----+---------+ | | | +-------------------+ .. _SERVO_FTW_RVMASK: SERVO\_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 | | | +-----+---------+ | | | +-------------------+ .. _SERVO_FTW_POLES: SERVO\_FTW\_POLES: Nr\. electrical poles ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Number of motor electrical poles +---------+ | Range | +=========+ | 2 to 50 | +---------+ .. _parameters_SERVO_ROB_: SERVO\_ROB\_ Parameters ----------------------- .. _SERVO_ROB_POSMIN: SERVO\_ROB\_POSMIN: Robotis servo position min ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Position minimum at servo min value\. This should be within the position control range of the servos\, normally 0 to 4095 +-----------+ | Range | +===========+ | 0 to 4095 | +-----------+ .. _SERVO_ROB_POSMAX: SERVO\_ROB\_POSMAX: Robotis servo position max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Position maximum at servo max value\. This should be within the position control range of the servos\, normally 0 to 4095 +-----------+ | Range | +===========+ | 0 to 4095 | +-----------+ .. _parameters_SERVO_SBUS_: SERVO\_SBUS\_ Parameters ------------------------ .. _SERVO_SBUS_RATE: SERVO\_SBUS\_RATE: SBUS default output rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the SBUS output frame rate in Hz\. +-----------+-------+ | Range | Units | +===========+=======+ | 25 to 250 | hertz | +-----------+-------+ .. _parameters_SERVO_VOLZ_: SERVO\_VOLZ\_ Parameters ------------------------ .. _SERVO_VOLZ_MASK: SERVO\_VOLZ\_MASK: Channel Bitmask ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable of volz servo protocol to specific channels +---------------------+ | 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 | | | +-----+-----------+ | | | +---------------------+ .. _SERVO_VOLZ_RANGE: SERVO\_VOLZ\_RANGE: Range of travel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Range to map between 1000 and 2000 PWM\. Default value of 200 gives full \+\-100 deg range of extended position command\. This results in 0\.2 deg movement per US change in PWM\. If the full range is not needed it can be reduced to increase resolution\. 40 deg range gives 0\.04 deg movement per US change in PWM\, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution\. Reduced range does allow PWMs outside the 1000 to 2000 range\, with 40 deg range 750 PWM results in a angle of \-30 deg\, 2250 would be \+30 deg\. This is still limited by the 200 deg maximum range of the actuator\. +---------+ | Units | +=========+ | degrees | +---------+ .. _parameters_SID: SID Parameters -------------- .. _SID_AXIS: SID\_AXIS: System identification axis ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Controls which axis are being excited\. Set to non\-zero to see more parameters +---------------------------------------+ | Values | +=======================================+ | +-------+---------------------------+ | | | Value | Meaning | | | +=======+===========================+ | | | 0 | None | | | +-------+---------------------------+ | | | 1 | VTOL Input Roll Angle | | | +-------+---------------------------+ | | | 2 | VTOL Input Pitch Angle | | | +-------+---------------------------+ | | | 3 | VTOL Input Yaw Angle | | | +-------+---------------------------+ | | | 4 | VTOL Recovery Roll Angle | | | +-------+---------------------------+ | | | 5 | VTOL Recovery Pitch Angle | | | +-------+---------------------------+ | | | 6 | VTOL Recovery Yaw Angle | | | +-------+---------------------------+ | | | 7 | VTOL Rate Roll | | | +-------+---------------------------+ | | | 8 | VTOL Rate Pitch | | | +-------+---------------------------+ | | | 9 | VTOL Rate Yaw | | | +-------+---------------------------+ | | | 10 | VTOL Mixer Roll | | | +-------+---------------------------+ | | | 11 | VTOL Mixer Pitch | | | +-------+---------------------------+ | | | 12 | VTOL Mixer Yaw | | | +-------+---------------------------+ | | | 13 | VTOL Mixer Thrust | | | +-------+---------------------------+ | | | 20 | FW Input Roll Angle | | | +-------+---------------------------+ | | | 21 | FW Input Pitch Angle | | | +-------+---------------------------+ | | | 22 | FW Mixer Roll | | | +-------+---------------------------+ | | | 23 | FW Mixer Pitch | | | +-------+---------------------------+ | | | +---------------------------------------+ .. _SID_MAGNITUDE: SID\_MAGNITUDE: System identification Chirp Magnitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Magnitude of sweep in deg\, deg\/s and 0\-1 for mixer outputs\. .. _SID_F_START_HZ: SID\_F\_START\_HZ: System identification Start Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Frequency at the start of the sweep +-------------+-------+ | Range | Units | +=============+=======+ | 0.01 to 100 | hertz | +-------------+-------+ .. _SID_F_STOP_HZ: SID\_F\_STOP\_HZ: System identification Stop Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Frequency at the end of the sweep +-------------+-------+ | Range | Units | +=============+=======+ | 0.01 to 100 | hertz | +-------------+-------+ .. _SID_T_FADE_IN: SID\_T\_FADE\_IN: System identification Fade in time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time to reach maximum amplitude of sweep +---------+---------+ | Range | Units | +=========+=========+ | 0 to 20 | seconds | +---------+---------+ .. _SID_T_REC: SID\_T\_REC: System identification Total Sweep length ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time taken to complete the sweep +----------+---------+ | Range | Units | +==========+=========+ | 0 to 255 | seconds | +----------+---------+ .. _SID_T_FADE_OUT: SID\_T\_FADE\_OUT: System identification Fade out time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Time to reach zero amplitude at the end of the sweep +--------+---------+ | Range | Units | +========+=========+ | 0 to 5 | seconds | +--------+---------+ .. _SID_XY_CTRL_MUL: SID\_XY\_CTRL\_MUL: System identification XY control multiplier ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ A multiplier for the XY velocity and position controller when using systemID in VTOL modes that do horizontal position and velocity control +-------------+ | Range | +=============+ | 0.05 to 1.0 | +-------------+ .. _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_SOAR_: SOAR\_ Parameters ----------------- .. _SOAR_ENABLE: SOAR\_ENABLE: Is the soaring mode enabled or not ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Toggles the soaring mode on and off +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _SOAR_VSPEED: SOAR\_VSPEED: Vertical v\-speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Rate of climb to trigger themalling speed +---------+-------------------+ | Range | Units | +=========+===================+ | 0 to 10 | meters per second | +---------+-------------------+ .. _SOAR_Q1: SOAR\_Q1: Process noise ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Standard deviation of noise in process for strength +----------------+ | Range | +================+ | 0.0001 to 0.01 | +----------------+ .. _SOAR_Q2: SOAR\_Q2: Process noise ~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Standard deviation of noise in process for position and radius +-----------+ | Range | +===========+ | 0.01 to 1 | +-----------+ .. _SOAR_R: SOAR\_R: Measurement noise ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Standard deviation of noise in measurement +-----------+ | Range | +===========+ | 0.01 to 1 | +-----------+ .. _SOAR_DIST_AHEAD: SOAR\_DIST\_AHEAD: Distance to thermal center ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Initial guess of the distance to the thermal center +----------+--------+ | Range | Units | +==========+========+ | 0 to 100 | meters | +----------+--------+ .. _SOAR_MIN_THML_S: SOAR\_MIN\_THML\_S: Minimum thermalling time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum number of seconds to spend thermalling +----------+---------+ | Range | Units | +==========+=========+ | 0 to 600 | seconds | +----------+---------+ .. _SOAR_MIN_CRSE_S: SOAR\_MIN\_CRSE\_S: Minimum cruising time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Minimum number of seconds to spend cruising +----------+---------+ | Range | Units | +==========+=========+ | 0 to 600 | seconds | +----------+---------+ .. _SOAR_POLAR_CD0: SOAR\_POLAR\_CD0: Zero lift drag coef\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Zero lift drag coefficient +--------------+ | Range | +==============+ | 0.005 to 0.5 | +--------------+ .. _SOAR_POLAR_B: SOAR\_POLAR\_B: Induced drag coeffient ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Induced drag coeffient +---------------+ | Range | +===============+ | 0.005 to 0.05 | +---------------+ .. _SOAR_POLAR_K: SOAR\_POLAR\_K: Cl factor ~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Cl factor 2\*m\*g\/\(rho\*S\) +-----------+--------------------------------+ | Range | Units | +===========+================================+ | 20 to 400 | square meter per square second | +-----------+--------------------------------+ .. _SOAR_ALT_MAX: SOAR\_ALT\_MAX: Maximum soaring altitude\, relative to the home location ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Don\'t thermal any higher than this\. +-------------+--------+ | Range | Units | +=============+========+ | 0 to 5000.0 | meters | +-------------+--------+ .. _SOAR_ALT_MIN: SOAR\_ALT\_MIN: Minimum soaring altitude\, relative to the home location ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Don\'t get any lower than this\. +-------------+--------+ | Range | Units | +=============+========+ | 0 to 1000.0 | meters | +-------------+--------+ .. _SOAR_ALT_CUTOFF: SOAR\_ALT\_CUTOFF: Maximum power altitude\, relative to the home location ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Cut off throttle at this alt\. +-------------+--------+ | Range | Units | +=============+========+ | 0 to 5000.0 | meters | +-------------+--------+ .. _SOAR_MAX_DRIFT: SOAR\_MAX\_DRIFT: \(Optional\) Maximum drift distance to allow when thermalling\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The previous mode will be restored if the horizontal distance to the thermalling start location exceeds this value\. \-1 to disable\. +-----------+ | Range | +===========+ | 0 to 1000 | +-----------+ .. _SOAR_MAX_RADIUS: SOAR\_MAX\_RADIUS: \(Optional\) Maximum distance from home ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* RTL will be entered when a thermal is exited and the plane is more than this distance from home\. \-1 to disable\. +-----------+ | Range | +===========+ | 0 to 1000 | +-----------+ .. _SOAR_THML_BANK: SOAR\_THML\_BANK: Thermalling bank angle ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter sets the bank angle to use when thermalling\. Typically 30 \- 45 degrees works well\. +----------+---------+ | Range | Units | +==========+=========+ | 20 to 50 | degrees | +----------+---------+ .. _SOAR_THML_ARSPD: SOAR\_THML\_ARSPD: Specific setting for airspeed when soaring in THERMAL mode\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If non\-zero this airspeed will be used when thermalling\. A value of 0 will use AIRSPEED\_CRUISE\. +---------+ | Range | +=========+ | 0 to 50 | +---------+ .. _SOAR_CRSE_ARSPD: SOAR\_CRSE\_ARSPD: Specific setting for airspeed when soaring in AUTO mode\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* If non\-zero this airspeed will be used when cruising between thermals in AUTO\. If set to \-1\, airspeed will be selected based on speed\-to\-fly theory\. If set to 0\, then AIRSPEED\_CRUISE will be used while cruising between thermals\. +----------+ | Range | +==========+ | -1 to 50 | +----------+ .. _SOAR_THML_FLAP: SOAR\_THML\_FLAP: Flap percent to be used during thermalling flight\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the flap when in LOITER with soaring active\. Overrides the usual auto flap behaviour\. +----------+ | Range | +==========+ | 0 to 100 | +----------+ .. _parameters_STAT: STAT Parameters --------------- .. _STAT_BOOTCNT: STAT\_BOOTCNT: Boot Count ~~~~~~~~~~~~~~~~~~~~~~~~~ Number of times board has been booted +----------+ | ReadOnly | +==========+ | True | +----------+ .. _STAT_FLTTIME: STAT\_FLTTIME: Total FlightTime ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total FlightTime \(seconds\) +----------+---------+ | ReadOnly | Units | +==========+=========+ | True | seconds | +----------+---------+ .. _STAT_RUNTIME: STAT\_RUNTIME: Total RunTime ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total time autopilot has run +----------+---------+ | ReadOnly | Units | +==========+=========+ | True | seconds | +----------+---------+ .. _STAT_RESET: STAT\_RESET: Statistics Reset Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Seconds since January 1st 2016 \(Unix epoch\+1451606400\) since statistics reset \(set to 0 to reset statistics\, other set values will be ignored\) +----------+---------+ | ReadOnly | Units | +==========+=========+ | True | seconds | +----------+---------+ .. _STAT_FLTCNT: STAT\_FLTCNT: Total Flight Count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Total number of flights +----------+ | ReadOnly | +==========+ | True | +----------+ .. _STAT_DISTFLWN: STAT\_DISTFLWN: Total Distance Flown ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Estimate of total distance flown since statistics reset +----------+--------+ | ReadOnly | Units | +==========+========+ | True | meters | +----------+--------+ .. _parameters_STEER2SRV_: STEER2SRV\_ Parameters ---------------------- .. _STEER2SRV_TCONST: STEER2SRV\_TCONST: Steering Time Constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This controls the time constant in seconds from demanded to achieved steering angle\. A value of 0\.75 is a good default and will work with nearly all rovers\. Ground steering in aircraft needs a bit smaller time constant\, and a value of 0\.5 is recommended for best ground handling in fixed wing aircraft\. A value of 0\.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0\.75 seconds\. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve\. +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.1 | 0.4 to 1.0 | seconds | +-----------+------------+---------+ .. _STEER2SRV_P: STEER2SRV\_P: Steering turning gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The proportional gain for steering\. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.1 | 0.1 to 10.0 | +-----------+-------------+ .. _STEER2SRV_I: STEER2SRV\_I: Integrator Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the gain from the integral of steering angle\. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.05 | 0 to 1.0 | +-----------+----------+ .. _STEER2SRV_D: STEER2SRV\_D: Damping Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~ This adjusts the damping of the steering control loop\. This gain helps to reduce steering jitter with vibration\. It should be increased in 0\.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.01 | 0 to 0.1 | +-----------+----------+ .. _STEER2SRV_IMAX: STEER2SRV\_IMAX: Integrator limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This limits the number of degrees of steering in centi\-degrees over which the integrator will operate\. At the default setting of 1500 centi\-degrees\, the integrator will be limited to \+\- 15 degrees of servo travel\. The maximum servo deflection is \+\- 45 centi\-degrees\, so the default value represents a 1\/3rd of the total control throw which is adequate unless the vehicle is severely out of trim\. +-----------+-----------+--------------+ | Increment | Range | Units | +===========+===========+==============+ | 10 | 0 to 4500 | centidegrees | +-----------+-----------+--------------+ .. _STEER2SRV_MINSPD: STEER2SRV\_MINSPD: Minimum speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the minimum assumed ground speed in meters\/second for steering\. Having a minimum speed prevents oscillations when the vehicle first starts moving\. The vehicle can still drive slower than this limit\, but the steering calculations will be done based on this minimum speed\. +-----------+--------+-------------------+ | Increment | Range | Units | +===========+========+===================+ | 0.1 | 0 to 5 | meters per second | +-----------+--------+-------------------+ .. _STEER2SRV_FF: STEER2SRV\_FF: Steering feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering\. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m\/s ground speed\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.1 | 0.0 to 10.0 | +-----------+-------------+ .. _STEER2SRV_DRTSPD: STEER2SRV\_DRTSPD: Derating speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Speed after that the maximum degree of steering will start to derate\. Set this speed to a maximum speed that a plane can do controlled turn at maximum angle of steering wheel without rolling to wing\. If 0 then no derating is used\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.1 | 0.0 to 30.0 | meters per second | +-----------+-------------+-------------------+ .. _STEER2SRV_DRTFCT: STEER2SRV\_DRTFCT: Derating factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Degrees of steering wheel to derate at each additional m\/s of speed above \"Derating speed\"\. Should be set so that at higher speeds the plane does not roll to the wing in turns\. +-----------+-------------+------------------------------+ | Increment | Range | Units | +===========+=============+==============================+ | 0.1 | 0.0 to 50.0 | degrees per meter per second | +-----------+-------------+------------------------------+ .. _STEER2SRV_DRTMIN: STEER2SRV\_DRTMIN: Minimum angle of wheel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The angle that limits smallest angle of steering wheel at maximum speed\. Even if it should derate below\, it will stop derating at this angle\. +-----------+-----------+--------------+ | Increment | Range | Units | +===========+===========+==============+ | 10 | 0 to 4500 | centidegrees | +-----------+-----------+--------------+ .. _parameters_TECS_: TECS\_ Parameters ----------------- .. _TECS_CLMB_MAX: TECS\_CLMB\_MAX: Maximum Climb Rate \(metres\/sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum demanded climb rate\. Do not set higher than the climb speed at THR\_MAX at AIRSPEED\_CRUISE when the battery is at low voltage\. Reduce value if airspeed cannot be maintained on ascent\. Increase value if throttle does not increase significantly to ascend\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.1 | 0.1 to 20.0 | +-----------+-------------+ .. _TECS_SINK_MIN: TECS\_SINK\_MIN: Minimum Sink Rate \(metres\/sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Minimum sink rate when at THR\_MIN and AIRSPEED\_CRUISE\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.1 | 0.1 to 10.0 | +-----------+-------------+ .. _TECS_TIME_CONST: TECS\_TIME\_CONST: Controller time constant \(sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Time constant of the TECS control algorithm\. Small values make faster altitude corrections but can cause overshoot and aggressive behavior\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.2 | 3.0 to 10.0 | +-----------+-------------+ .. _TECS_THR_DAMP: TECS\_THR\_DAMP: Controller throttle damping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Damping gain for throttle demand loop\. Increase to add throttle activity to dampen oscillations in speed and height\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.1 to 1.0 | +-----------+------------+ .. _TECS_INTEG_GAIN: TECS\_INTEG\_GAIN: Controller integrator ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Integrator gain to trim out long\-term speed and height errors\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.02 | 0.0 to 0.5 | +-----------+------------+ .. _TECS_VERT_ACC: TECS\_VERT\_ACC: Vertical Acceleration Limit \(metres\/sec\^2\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Maximum vertical acceleration used to correct speed or height errors\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.5 | 1.0 to 10.0 | +-----------+-------------+ .. _TECS_HGT_OMEGA: TECS\_HGT\_OMEGA: Height complementary filter frequency \(radians\/sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the cross\-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.05 | 1.0 to 5.0 | +-----------+------------+ .. _TECS_SPD_OMEGA: TECS\_SPD\_OMEGA: Speed complementary filter frequency \(radians\/sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the cross\-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.05 | 0.5 to 2.0 | +-----------+------------+ .. _TECS_RLL2THR: TECS\_RLL2THR: Bank angle compensation gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gain from bank angle to throttle to compensate for loss of airspeed from drag in turns\. Set to approximately 10x the sink rate in m\/s caused by a 45\-degree turn\. High efficiency models may need less while less efficient aircraft may need more\. Should be tuned in an automatic mission with waypoints and turns greater than 90 degrees\. Tune with PTCH2SRV\_RLL and KFF\_RDDRMIX to achieve constant airspeed\, constant altitude turns\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 1.0 | 5.0 to 30.0 | +-----------+-------------+ .. _TECS_SPDWEIGHT: TECS\_SPDWEIGHT: Weighting applied to speed control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Mixing of pitch and throttle correction for height and airspeed errors\. Pitch controls altitude and throttle controls airspeed if set to 0\. Pitch controls airspeed and throttle controls altitude if set to 2 \(good for gliders\)\. Blended if set to 1\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.0 to 2.0 | +-----------+------------+ .. _TECS_PTCH_DAMP: TECS\_PTCH\_DAMP: Controller pitch damping ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Damping gain for pitch control from TECS control\. Increasing may correct for oscillations in speed and height\, but too much may cause additional oscillation and degraded control\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.1 to 1.0 | +-----------+------------+ .. _TECS_SINK_MAX: TECS\_SINK\_MAX: Maximum Descent Rate \(metres\/sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Maximum demanded descent rate\. Do not set higher than the vertical speed the aircraft can maintain at THR\_MIN\, TECS\_PITCH\_MIN\, and AIRSPEED\_MAX\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.1 | 0.0 to 20.0 | +-----------+-------------+ .. _TECS_LAND_ARSPD: TECS\_LAND\_ARSPD: Airspeed during landing approach \(m\/s\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When performing an autonomous landing\, this value is used as the goal airspeed during approach\. Max airspeed allowed is AIRSPEED\_CRUISE or AIRSPEED\_MAX as defined by LAND\_OPTIONS bitmask\. Note that this parameter is not useful if your platform does not have an airspeed sensor \(use TECS\_LAND\_THR instead\)\. If negative then this value is halfway between AIRSPEED\_MIN and AIRSPEED\_CRUISE speed for fixed wing autolandings\. +-----------+-----------+ | Increment | Range | +===========+===========+ | 1 | -1 to 127 | +-----------+-----------+ .. _TECS_LAND_THR: TECS\_LAND\_THR: Cruise throttle during landing approach \(percentage\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Use this parameter instead of LAND\_ARSPD if your platform does not have an airspeed sensor\. It is the cruise throttle during landing approach\. If this value is negative then it is disabled and TECS\_LAND\_ARSPD is used instead\. +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.1 | -1 to 100 | +-----------+-----------+ .. _TECS_LAND_SPDWGT: TECS\_LAND\_SPDWGT: Weighting applied to speed control during landing\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Same as SPDWEIGHT parameter\, with the exception that this parameter is applied during landing flight stages\. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up \-\- sometimes good for a glider landing \(with the side effect that you will likely glide a ways past the landing point\)\. A value closer to 0 results in the plane ignoring speed error \-\- use caution when lowering the value below 1 \-\- ignoring speed could result in a stall\. Values between 0 and 2 are valid values for a fixed landing weight\. When using \-1 the weight will be scaled during the landing\. At the start of the landing approach it starts with TECS\_SPDWEIGHT and scales down to 0 by the time you reach the land point\. Example\: Halfway down the landing approach you\'ll effectively have a weight of TECS\_SPDWEIGHT\/2\. +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.1 | -1.0 to 2.0 | +-----------+-------------+ .. _TECS_PITCH_MAX: TECS\_PITCH\_MAX: Maximum pitch in auto flight ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Overrides PTCH\_LIM\_MAX\_DEG in automatic throttle modes to reduce climb rates\. Uses PTCH\_LIM\_MAX\_DEG if set to 0\. For proper TECS tuning\, set to the angle that the aircraft can climb at AIRSPEED\_CRUISE and THR\_MAX\. +-----------+---------+ | Increment | Range | +===========+=========+ | 1 | 0 to 45 | +-----------+---------+ .. _TECS_PITCH_MIN: TECS\_PITCH\_MIN: Minimum pitch in auto flight ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Overrides PTCH\_LIM\_MIN\_DEG in automatic throttle modes to reduce descent rates\. Uses PTCH\_LIM\_MIN\_DEG if set to 0\. For proper TECS tuning\, set to the angle that the aircraft can descend at without overspeeding\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -45 to 0 | +-----------+----------+ .. _TECS_LAND_SINK: TECS\_LAND\_SINK: Sink rate for final landing stage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The sink rate in meters\/second for the final stage of landing\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.0 to 2.0 | +-----------+------------+ .. _TECS_LAND_TCONST: TECS\_LAND\_TCONST: Land controller time constant \(sec\) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the time constant of the TECS control algorithm when in final landing stage of flight\. It should be smaller than TECS\_TIME\_CONST to allow for faster flare +-----------+------------+ | Increment | Range | +===========+============+ | 0.2 | 1.0 to 5.0 | +-----------+------------+ .. _TECS_LAND_DAMP: TECS\_LAND\_DAMP: Controller sink rate to pitch gain during flare ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the sink rate gain for the pitch demand loop when in final landing stage of flight\. It should be larger than TECS\_PTCH\_DAMP to allow for better sink rate control during flare\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.1 to 1.0 | +-----------+------------+ .. _TECS_LAND_PMAX: TECS\_LAND\_PMAX: Maximum pitch during final stage of landing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This limits the pitch used during the final stage of automatic landing\. During the final landing stage most planes need to keep their pitch small to avoid stalling\. A maximum of 10 degrees is usually good\. A value of zero means to use the normal pitch limits\. +-----------+----------+ | Increment | Range | +===========+==========+ | 1 | -5 to 40 | +-----------+----------+ .. _TECS_APPR_SMAX: TECS\_APPR\_SMAX: Sink rate max for landing approach stage ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The sink rate max for the landing approach stage of landing\. This will need to be large for steep landing approaches especially when using reverse thrust\. If 0\, then use TECS\_SINK\_MAX\. +-----------+-------------+-------------------+ | Increment | Range | Units | +===========+=============+===================+ | 0.1 | 0.0 to 20.0 | meters per second | +-----------+-------------+-------------------+ .. _TECS_LAND_SRC: TECS\_LAND\_SRC: Land sink rate change ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When zero\, the flare sink rate \(TECS\_LAND\_SINK\) is a fixed sink demand\. With this enabled the flare sink rate will increase\/decrease the flare sink demand as you get further beyond the LAND waypoint\. Has no effect before the waypoint\. This value is added to TECS\_LAND\_SINK proportional to distance traveled after wp\. With an increasing sink rate you can still land in a given distance if you\'re traveling too fast and cruise passed the land point\. A positive value will force the plane to land sooner proportional to distance passed land point\. A negative number will tell the plane to slowly climb allowing for a pitched\-up stall landing\. Recommend 0\.2 as initial value\. +-----------+-------------+-----------------------------+ | Increment | Range | Units | +===========+=============+=============================+ | 0.1 | -2.0 to 2.0 | meters per second per meter | +-----------+-------------+-----------------------------+ .. _TECS_LAND_TDAMP: TECS\_LAND\_TDAMP: Controller throttle damping when landing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Damping gain for the throttle demand loop during an auto\-landing\. Same as TECS\_THR\_DAMP but only in effect during an auto\-land\. Increase to add throttle activity to dampen oscillations in speed and height\. When set to 0 landing throttle damping is controlled by TECS\_THR\_DAMP\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.1 to 1.0 | +-----------+------------+ .. _TECS_LAND_IGAIN: TECS\_LAND\_IGAIN: Controller integrator during landing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the integrator gain on the control loop during landing\. When set to 0 then TECS\_INTEG\_GAIN is used\. Increase to increase the rate at which speed and height offsets are trimmed out\. Typically values lower than TECS\_INTEG\_GAIN work best +-----------+------------+ | Increment | Range | +===========+============+ | 0.02 | 0.0 to 0.5 | +-----------+------------+ .. _TECS_TKOFF_IGAIN: TECS\_TKOFF\_IGAIN: Controller integrator during takeoff ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the integrator gain on the control loop during takeoff\. Increase to increase the rate at which speed and height offsets are trimmed out\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.02 | 0.0 to 0.5 | +-----------+------------+ .. _TECS_LAND_PDAMP: TECS\_LAND\_PDAMP: Pitch damping gain when landing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This is the damping gain for the pitch demand loop during landing\. Increase to add damping to correct for oscillations in speed and height\. If set to 0 then TECS\_PTCH\_DAMP will be used instead\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.1 | 0.1 to 1.0 | +-----------+------------+ .. _TECS_SYNAIRSPEED: TECS\_SYNAIRSPEED: Enable the use of synthetic airspeed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This enables the use of synthetic airspeed in TECS for aircraft that don\'t have a real airspeed sensor\. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system\, such as very poor estimates when a wind estimate is not accurate\. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate\. This option has no effect if a healthy airspeed sensor is being used for airspeed measurements\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _TECS_OPTIONS: TECS\_OPTIONS: Extra TECS options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This allows the enabling of special features in the speed\/height controller\. +-------------------------------+ | Bitmask | +===============================+ | +-----+---------------------+ | | | Bit | Meaning | | | +=====+=====================+ | | | 0 | GliderOnly | | | +-----+---------------------+ | | | 1 | AllowDescentSpeedup | | | +-----+---------------------+ | | | +-------------------------------+ .. _TECS_PTCH_FF_V0: TECS\_PTCH\_FF\_V0: Baseline airspeed for pitch feed\-forward\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter sets the airspeed at which no feed\-forward is applied between demanded airspeed and pitch\. It should correspond to the airspeed in metres per second at which the plane glides at neutral pitch including STAB\_PITCH\_DOWN\. +-------------+ | Range | +=============+ | 5.0 to 50.0 | +-------------+ .. _TECS_PTCH_FF_K: TECS\_PTCH\_FF\_K: Gain for pitch feed\-forward\. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This parameter sets the gain between demanded airspeed and pitch\. It has units of radians per metre per second and should generally be negative\. A good starting value is \-0\.04 for gliders and \-0\.08 for draggy airframes\. The default \(0\.0\) disables this feed\-forward\. +-------------+ | Range | +=============+ | -5.0 to 0.0 | +-------------+ .. _TECS_THR_ERATE: TECS\_THR\_ERATE: Forward throttle external limit slew rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The externally set forward throttle lower limit applied within TECS will be reduced by this many percentage points per second after being set\. Set to a non positive value to hold the lower limit for one frame only\. +----------+--------------------+ | Range | Units | +==========+====================+ | 0 to 100 | percent per second | +----------+--------------------+ .. _TECS_FLARE_HGT: TECS\_FLARE\_HGT: Flare holdoff height ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* When height above ground is below this\, the sink rate will be held at TECS\_LAND\_SINK\. Use this to perform a hold\-off manoeuvre when combined with small values for TECS\_LAND\_SINK\. +---------+--------+ | Range | Units | +=========+========+ | 0 to 15 | meters | +---------+--------+ .. _TECS_HDEM_TCONST: TECS\_HDEM\_TCONST: Height Demand Time Constant ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* This sets the time constant of the low pass filter that is applied to the height demand input when bit 0 of TECS\_OPTIONS is not selected\. +-----------+------------+---------+ | Increment | Range | Units | +===========+============+=========+ | 0.2 | 1.0 to 5.0 | seconds | +-----------+------------+---------+ .. _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_TERRAIN_: TERRAIN\_ Parameters -------------------- .. _TERRAIN_ENABLE: TERRAIN\_ENABLE: Terrain data enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* enable terrain data\. This enables the vehicle storing a database of terrain data on the SD card\. The terrain data is requested from the ground station as needed\, and stored for later use on the SD card\. To be useful the ground station must support TERRAIN\_REQUEST messages and have access to a terrain database\, such as the SRTM database\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _TERRAIN_SPACING: TERRAIN\_SPACING: Terrain grid spacing ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Distance between terrain grid points in meters\. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station\. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy\, then a resolution of 100 meters is appropriate\. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution\. The grid spacing also controls how much data is kept in memory during flight\. A larger grid spacing will allow for a larger amount of data in memory\. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2\.7 kilometers by 3\.2 kilometers\. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed\. +-----------+--------+ | Increment | Units | +===========+========+ | 1 | meters | +-----------+--------+ .. _TERRAIN_OPTIONS: TERRAIN\_OPTIONS: Terrain options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Options to change behavior of terrain system\. The Accept Old Terrain Data option can be used to accept terrain data generated from before the terrain database bugs were fixed\. The bugs in the data were all fixed from 24th February 2026\. If you really want to risk using the old terrain data then you can set this option\, otherwise remove the old terrain data by formatting your microSD card or renaming the \/APM\/TERRAIN folder\. Then downloaded updated data from https\:\/\/terrain\.ardupilot\.org\, or let the automatic terrain download repopulate your terrain data\. +-----------------------------------+ | Bitmask | +===================================+ | +-----+-------------------------+ | | | Bit | Meaning | | | +=====+=========================+ | | | 0 | Disable Download | | | +-----+-------------------------+ | | | 1 | Disable Disk | | | +-----+-------------------------+ | | | 2 | Accept Old Terrain Data | | | +-----+-------------------------+ | | | +-----------------------------------+ .. _TERRAIN_MARGIN: TERRAIN\_MARGIN: Acceptance margin ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Margin in centi\-meters to accept terrain data from the GCS\. This can be used to allow older terrain data generated with less accurate latitude\/longitude scaling to be used +---------------+--------+ | Range | Units | +===============+========+ | 0.05 to 50000 | meters | +---------------+--------+ .. _TERRAIN_OFS_MAX: TERRAIN\_OFS\_MAX: Terrain reference offset maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed\. When the vehicle is armed the location of the vehicle is recorded\, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming\. This height adjustment is applied to all terrain data\. This parameter clamps the amount of adjustment\. A value of zero disables the use of terrain height adjustment\. +---------+--------+ | Range | Units | +=========+========+ | 0 to 50 | meters | +---------+--------+ .. _TERRAIN_CACHE_SZ: TERRAIN\_CACHE\_SZ: Terrain cache size ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* The number of 32x28 cache blocks to keep in memory\. Each block uses about 1800 bytes of memory +----------+ | Range | +==========+ | 1 to 128 | +----------+ .. _parameters_TKOFF_: TKOFF\_ Parameters ------------------ .. _TKOFF_ALT: TKOFF\_ALT: Takeoff mode altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the target altitude for TAKEOFF mode +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 0 to 200 | meters | +-----------+----------+--------+ .. _TKOFF_LVL_ALT: TKOFF\_LVL\_ALT: Takeoff mode altitude level altitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the altitude below which the wings are held level for TAKEOFF and AUTO modes\. Below this altitude\, roll demand is restricted to LEVEL\_ROLL\_LIMIT\. Normal\-flight roll restriction resumes above TKOFF\_LVL\_ALT\*3 or TKOFF\_ALT\, whichever is lower\. Roll limits are scaled while between TKOFF\_LVL\_ALT and those altitudes for a smooth transition\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 1 | 0 to 50 | meters | +-----------+---------+--------+ .. _TKOFF_LVL_PITCH: TKOFF\_LVL\_PITCH: Takeoff mode altitude initial pitch ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the target pitch during the takeoff\. +-----------+---------+---------+ | Increment | Range | Units | +===========+=========+=========+ | 1 | 0 to 30 | degrees | +-----------+---------+---------+ .. _TKOFF_DIST: TKOFF\_DIST: Takeoff mode distance ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This is the distance from the takeoff location where the plane will loiter\. The loiter point will be in the direction of takeoff \(the direction the plane is facing when the plane begins takeoff\) +-----------+----------+--------+ | Increment | Range | Units | +===========+==========+========+ | 1 | 0 to 500 | meters | +-----------+----------+--------+ .. _TKOFF_GND_PITCH: TKOFF\_GND\_PITCH: Takeoff run pitch demand ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Degrees of pitch angle demanded during the takeoff run before speed reaches TKOFF\_ROTATE\_SPD\. For taildraggers set to 3\-point ground pitch angle and use TKOFF\_TDRAG\_ELEV to prevent nose tipover\. For nose\-wheel steer aircraft set to the ground pitch angle and if a reduction in nose\-wheel load is required as speed rises\, use a positive offset in TKOFF\_GND\_PITCH of up to 5 degrees above the angle on ground\, starting at the measured pitch angle and incrementing in 1 degree steps whilst checking for premature rotation and takeoff with each increment\. To increase nose\-wheel load\, use a negative TKOFF\_TDRAG\_ELEV and refer to notes on TKOFF\_TDRAG\_ELEV before making adjustments\. +-----------+--------------+---------+ | Increment | Range | Units | +===========+==============+=========+ | 0.1 | -5.0 to 10.0 | degrees | +-----------+--------------+---------+ .. _parameters_TUNE_: TUNE\_ Parameters ----------------- .. _TUNE_PARAM: TUNE\_PARAM: Transmitter tuning parameter or set of parameters ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets which parameter or set of parameters will be tuned\. Values greater than 100 indicate a set of parameters rather than a single parameter\. Parameters less than 50 are for QuadPlane vertical lift motors only\. +--------------------------------+ | Values | +================================+ | +-------+--------------------+ | | | Value | Meaning | | | +=======+====================+ | | | 0 | None | | | +-------+--------------------+ | | | 1 | RateRollPI | | | +-------+--------------------+ | | | 2 | RateRollP | | | +-------+--------------------+ | | | 3 | RateRollI | | | +-------+--------------------+ | | | 4 | RateRollD | | | +-------+--------------------+ | | | 5 | RatePitchPI | | | +-------+--------------------+ | | | 6 | RatePitchP | | | +-------+--------------------+ | | | 7 | RatePitchI | | | +-------+--------------------+ | | | 8 | RatePitchD | | | +-------+--------------------+ | | | 9 | RateYawPI | | | +-------+--------------------+ | | | 10 | RateYawP | | | +-------+--------------------+ | | | 11 | RateYawI | | | +-------+--------------------+ | | | 12 | RateYawD | | | +-------+--------------------+ | | | 13 | AngleRollP | | | +-------+--------------------+ | | | 14 | AnglePitchP | | | +-------+--------------------+ | | | 15 | AngleYawP | | | +-------+--------------------+ | | | 16 | PosXYP | | | +-------+--------------------+ | | | 17 | PosZP | | | +-------+--------------------+ | | | 18 | VelXYP | | | +-------+--------------------+ | | | 19 | VelXYI | | | +-------+--------------------+ | | | 20 | VelZP | | | +-------+--------------------+ | | | 21 | AccelZP | | | +-------+--------------------+ | | | 22 | AccelZI | | | +-------+--------------------+ | | | 23 | AccelZD | | | +-------+--------------------+ | | | 24 | RatePitchFF | | | +-------+--------------------+ | | | 25 | RateRollFF | | | +-------+--------------------+ | | | 26 | RateYawFF | | | +-------+--------------------+ | | | 50 | FixedWingRollP | | | +-------+--------------------+ | | | 51 | FixedWingRollI | | | +-------+--------------------+ | | | 52 | FixedWingRollD | | | +-------+--------------------+ | | | 53 | FixedWingRollFF | | | +-------+--------------------+ | | | 54 | FixedWingPitchP | | | +-------+--------------------+ | | | 55 | FixedWingPitchI | | | +-------+--------------------+ | | | 56 | FixedWingPitchD | | | +-------+--------------------+ | | | 57 | FixedWingPitchFF | | | +-------+--------------------+ | | | 101 | Set_RateRollPitch | | | +-------+--------------------+ | | | 102 | Set_RateRoll | | | +-------+--------------------+ | | | 103 | Set_RatePitch | | | +-------+--------------------+ | | | 104 | Set_RateYaw | | | +-------+--------------------+ | | | 105 | Set_AngleRollPitch | | | +-------+--------------------+ | | | 106 | Set_VelXY | | | +-------+--------------------+ | | | 107 | Set_AccelZ | | | +-------+--------------------+ | | | 108 | Set_RatePitchDP | | | +-------+--------------------+ | | | 109 | Set_RateRollDP | | | +-------+--------------------+ | | | 110 | Set_RateYawDP | | | +-------+--------------------+ | | | +--------------------------------+ .. _TUNE_CHAN: TUNE\_CHAN: Transmitter tuning channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the channel for transmitter tuning\. This should be connected to a knob or slider on your transmitter\. It needs to be setup to use the PWM range given by TUNE\_CHAN\_MIN to TUNE\_CHAN\_MAX +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 5 | Chan5 | | | +-------+---------+ | | | 6 | Chan6 | | | +-------+---------+ | | | 7 | Chan7 | | | +-------+---------+ | | | 8 | Chan8 | | | +-------+---------+ | | | 9 | Chan9 | | | +-------+---------+ | | | 10 | Chan10 | | | +-------+---------+ | | | 11 | Chan11 | | | +-------+---------+ | | | 12 | Chan12 | | | +-------+---------+ | | | 13 | Chan13 | | | +-------+---------+ | | | 14 | Chan14 | | | +-------+---------+ | | | 15 | Chan15 | | | +-------+---------+ | | | 16 | Chan16 | | | +-------+---------+ | | | +---------------------+ .. _TUNE_CHAN_MIN: TUNE\_CHAN\_MIN: Transmitter tuning channel minimum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM lower limit for the tuning channel +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _TUNE_CHAN_MAX: TUNE\_CHAN\_MAX: Transmitter tuning channel maximum pwm ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the PWM upper limit for the tuning channel +-------------+ | Range | +=============+ | 900 to 2100 | +-------------+ .. _TUNE_SELECTOR: TUNE\_SELECTOR: Transmitter tuning selector channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the channel for the transmitter tuning selector switch\. This should be a 2 position switch\, preferably spring loaded\. A PWM above 1700 means high\, below 1300 means low\. If no selector is set then you won\'t be able to switch between parameters during flight or re\-center the tuning knob +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Chan1 | | | +-------+---------+ | | | 2 | Chan3 | | | +-------+---------+ | | | 3 | Chan3 | | | +-------+---------+ | | | 4 | Chan4 | | | +-------+---------+ | | | 5 | Chan5 | | | +-------+---------+ | | | 6 | Chan6 | | | +-------+---------+ | | | 7 | Chan7 | | | +-------+---------+ | | | 8 | Chan8 | | | +-------+---------+ | | | 9 | Chan9 | | | +-------+---------+ | | | 10 | Chan10 | | | +-------+---------+ | | | 11 | Chan11 | | | +-------+---------+ | | | 12 | Chan12 | | | +-------+---------+ | | | 13 | Chan13 | | | +-------+---------+ | | | 14 | Chan14 | | | +-------+---------+ | | | 15 | Chan15 | | | +-------+---------+ | | | 16 | Chan16 | | | +-------+---------+ | | | +---------------------+ .. _TUNE_RANGE: TUNE\_RANGE: Transmitter tuning range ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the range over which tuning will change a parameter\. A value of 2 means the tuning parameter will go from 0\.5 times the start value to 2x the start value over the range of the tuning channel .. _TUNE_MODE_REVERT: TUNE\_MODE\_REVERT: Revert on mode change ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This controls whether tuning values will revert on a flight mode change\. +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _TUNE_ERR_THRESH: TUNE\_ERR\_THRESH: Controller error threshold ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability while tuning\. The error is the rms value of the P\+D corrections in the loop\. High values in hover indicate possible instability due to too high PID gains or excessively high D to P gain ratios\.\-1 will disable this message\. +--------+ | Range | +========+ | 0 to 1 | +--------+ .. _parameters_VISO: VISO Parameters --------------- .. _VISO_TYPE: VISO\_TYPE: Visual odometry camera connection type ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* | *Note: Reboot required after change* Visual odometry camera connection type +---------------------------+ | Values | +===========================+ | +-------+---------------+ | | | Value | Meaning | | | +=======+===============+ | | | 0 | None | | | +-------+---------------+ | | | 1 | MAVLink | | | +-------+---------------+ | | | 2 | IntelT265 | | | +-------+---------------+ | | | 3 | VOXL(ModalAI) | | | +-------+---------------+ | | | +---------------------------+ .. _VISO_POS_X: VISO\_POS\_X: Visual odometry camera X position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* X position of the camera in body frame\. Positive X is forward of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _VISO_POS_Y: VISO\_POS\_Y: Visual odometry camera Y position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Y position of the camera in body frame\. Positive Y is to the right of the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _VISO_POS_Z: VISO\_POS\_Z: Visual odometry camera Z position offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Z position of the camera in body frame\. Positive Z is down from the origin\. +-----------+---------+--------+ | Increment | Range | Units | +===========+=========+========+ | 0.01 | -5 to 5 | meters | +-----------+---------+--------+ .. _VISO_ORIENT: VISO\_ORIENT: Visual odometery camera orientation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometery camera orientation +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Forward | | | +-------+---------+ | | | 2 | Right | | | +-------+---------+ | | | 4 | Back | | | +-------+---------+ | | | 6 | Left | | | +-------+---------+ | | | 24 | Up | | | +-------+---------+ | | | 25 | Down | | | +-------+---------+ | | | +---------------------+ .. _VISO_SCALE: VISO\_SCALE: Visual odometry scaling factor ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry scaling factor applied to position estimates from sensor .. _VISO_DELAY_MS: VISO\_DELAY\_MS: Visual odometry sensor delay ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry sensor delay relative to inertial measurements +----------+--------------+ | Range | Units | +==========+==============+ | 0 to 250 | milliseconds | +----------+--------------+ .. _VISO_VEL_M_NSE: VISO\_VEL\_M\_NSE: Visual odometry velocity measurement noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry velocity measurement noise in m\/s +-------------+-------------------+ | Range | Units | +=============+===================+ | 0.05 to 5.0 | meters per second | +-------------+-------------------+ .. _VISO_POS_M_NSE: VISO\_POS\_M\_NSE: Visual odometry position measurement noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry position measurement noise minimum \(meters\)\. This value will be used if the sensor provides a lower noise value \(or no noise value\) +-------------+--------+ | Range | Units | +=============+========+ | 0.1 to 10.0 | meters | +-------------+--------+ .. _VISO_YAW_M_NSE: VISO\_YAW\_M\_NSE: Visual odometry yaw measurement noise ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry yaw measurement noise minimum \(radians\)\, This value will be used if the sensor provides a lower noise value \(or no noise value\) +-------------+---------+ | Range | Units | +=============+=========+ | 0.05 to 1.0 | radians | +-------------+---------+ .. _VISO_QUAL_MIN: VISO\_QUAL\_MIN: Visual odometry minimum quality ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Visual odometry will only be sent to EKF if over this value\. \-1 to always send \(even bad values\)\, 0 to send if good or unknown +-----------+---------+ | Range | Units | +===========+=========+ | -1 to 100 | percent | +-----------+---------+ .. _parameters_VTX_: VTX\_ Parameters ---------------- .. _VTX_ENABLE: VTX\_ENABLE: Is the Video Transmitter enabled or not ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Toggles the Video Transmitter on and off +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _VTX_POWER: VTX\_POWER: Video Transmitter Power Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Power Level\. Different VTXs support different power levels\, the power level chosen will be rounded down to the nearest supported power level +-----------+ | Range | +===========+ | 1 to 1000 | +-----------+ .. _VTX_CHANNEL: VTX\_CHANNEL: Video Transmitter Channel ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Channel +--------+ | Range | +========+ | 0 to 7 | +--------+ .. _VTX_BAND: VTX\_BAND: Video Transmitter Band ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Band +--------------------------+ | Values | +==========================+ | +-------+--------------+ | | | Value | Meaning | | | +=======+==============+ | | | 0 | Band A | | | +-------+--------------+ | | | 1 | Band B | | | +-------+--------------+ | | | 2 | Band E | | | +-------+--------------+ | | | 3 | Airwave | | | +-------+--------------+ | | | 4 | RaceBand | | | +-------+--------------+ | | | 5 | Low RaceBand | | | +-------+--------------+ | | | 6 | 1G3 Band A | | | +-------+--------------+ | | | 7 | 1G3 Band B | | | +-------+--------------+ | | | 8 | Band X | | | +-------+--------------+ | | | 9 | 3G3 Band A | | | +-------+--------------+ | | | 10 | 3G3 Band B | | | +-------+--------------+ | | | +--------------------------+ .. _VTX_FREQ: VTX\_FREQ: Video Transmitter Frequency ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Frequency\. The frequency is derived from the setting of BAND and CHANNEL +--------------+----------+ | Range | ReadOnly | +==============+==========+ | 1000 to 6000 | True | +--------------+----------+ .. _VTX_OPTIONS: VTX\_OPTIONS: Video Transmitter Options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Video Transmitter Options\. Pitmode puts the VTX in a low power state\. Unlocked enables certain restricted frequencies and power levels\. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels\. One stop\-bit may be required for VTXs that erroneously mimic iNav behaviour\. +---------------------------------------------------------------------+ | Bitmask | +=====================================================================+ | +-----+-----------------------------------------------------------+ | | | Bit | Meaning | | | +=====+===========================================================+ | | | 0 | Pitmode | | | +-----+-----------------------------------------------------------+ | | | 1 | Pitmode until armed | | | +-----+-----------------------------------------------------------+ | | | 2 | Pitmode when disarmed | | | +-----+-----------------------------------------------------------+ | | | 3 | Unlocked | | | +-----+-----------------------------------------------------------+ | | | 4 | Add leading zero byte to requests | | | +-----+-----------------------------------------------------------+ | | | 5 | Use 1 stop-bit in SmartAudio | | | +-----+-----------------------------------------------------------+ | | | 6 | Ignore CRC in SmartAudio | | | +-----+-----------------------------------------------------------+ | | | 7 | Ignore status updates in CRSF and blindly set VTX options | | | +-----+-----------------------------------------------------------+ | | | +---------------------------------------------------------------------+ .. _VTX_MAX_POWER: VTX\_MAX\_POWER: Video Transmitter Max Power Level ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Video Transmitter Maximum Power Level\. Different VTXs support different power levels\, this prevents the power aux switch from requesting too high a power level\. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting\. +------------+ | Range | +============+ | 25 to 1000 | +------------+ .. _VTX_TYPES: VTX\_TYPES: Allowed VTX control transports ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Bitmask of the control transports permitted to manage the VTX\. AP\_VideoTX represents a single VTX\, so when more than one transport is present \(for example a CRSF VTX on the receiver and an MSP VTX on the goggles\) this selects which one owns it\. Clear a transport\'s bit to stop it taking control of the VTX\. +----------------------+ | Bitmask | +======================+ | +-----+------------+ | | | Bit | Meaning | | | +=====+============+ | | | 0 | CRSF | | | +-----+------------+ | | | 1 | SmartAudio | | | +-----+------------+ | | | 2 | Tramp | | | +-----+------------+ | | | 3 | MSP | | | +-----+------------+ | | | +----------------------+ .. _parameters_YAW: YAW Parameters -------------- .. _YAW2SRV_SLIP: YAW2SRV\_SLIP: Sideslip control gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gain from lateral acceleration to demanded yaw rate for aircraft with enough fuselage area to detect lateral acceleration and sideslips\. Do not enable for flying wings and gliders\. Actively coordinates flight more than just yaw damping\. Set after YAW2SRV\_DAMP and YAW2SRV\_INT are tuned\. +-----------+--------+ | Increment | Range | +===========+========+ | 0.25 | 0 to 4 | +-----------+--------+ .. _YAW2SRV_INT: YAW2SRV\_INT: Sideslip control integrator ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Integral gain from lateral acceleration error\. Effectively trims rudder to eliminate long\-term sideslip\. +-----------+--------+ | Increment | Range | +===========+========+ | 0.25 | 0 to 2 | +-----------+--------+ .. _YAW2SRV_DAMP: YAW2SRV\_DAMP: Yaw damping ~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gain from yaw rate to rudder\. Most effective at yaw damping and should be tuned after KFF\_RDDRMIX\. Also disables YAW2SRV\_INT if set to 0\. +-----------+--------+ | Increment | Range | +===========+========+ | 0.25 | 0 to 2 | +-----------+--------+ .. _YAW2SRV_RLL: YAW2SRV\_RLL: Yaw coordination gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Gain to the yaw rate required to keep it consistent with the turn rate in a coordinated turn\. Corrects for yaw tendencies after the turn is established\. Increase yaw into the turn by raising\. Increase yaw out of the turn by decreasing\. Values outside of 0\.9\-1\.1 range indicate airspeed calibration problems\. +-----------+------------+ | Increment | Range | +===========+============+ | 0.05 | 0.8 to 1.2 | +-----------+------------+ .. _YAW2SRV_IMAX: YAW2SRV\_IMAX: Integrator limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Limit of yaw integrator gain in centi\-degrees of servo travel\. Servos are assumed to have \+\/\- 4500 centi\-degrees of travel\, so a value of 1500 allows trim of up to 1\/3 of servo travel range\. +-----------+-----------+ | Increment | Range | +===========+===========+ | 1 | 0 to 4500 | +-----------+-----------+ .. _YAW_RATE_ENABLE: YAW\_RATE\_ENABLE: Yaw rate enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Enable yaw rate controller for aerobatic flight +---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Disable | | | +-------+---------+ | | | 1 | Enable | | | +-------+---------+ | | | +---------------------+ .. _YAW_RATE_P: YAW\_RATE\_P: Yaw axis rate controller P gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate +-----------+--------------+ | Increment | Range | +===========+==============+ | 0.005 | 0.08 to 0.35 | +-----------+--------------+ .. _YAW_RATE_I: YAW\_RATE\_I: Yaw axis rate controller I gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate +-----------+-------------+ | Increment | Range | +===========+=============+ | 0.01 | 0.01 to 0.6 | +-----------+-------------+ .. _YAW_RATE_IMAX: YAW\_RATE\_IMAX: Yaw axis rate controller I gain maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _YAW_RATE_D: YAW\_RATE\_D: Yaw axis rate controller D gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate +-----------+---------------+ | Increment | Range | +===========+===============+ | 0.001 | 0.001 to 0.03 | +-----------+---------------+ .. _YAW_RATE_FF: YAW\_RATE\_FF: Yaw axis rate controller feed forward ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller feed forward +-----------+----------+ | Increment | Range | +===========+==========+ | 0.001 | 0 to 3.0 | +-----------+----------+ .. _YAW_RATE_FLTT: YAW\_RATE\_FLTT: Yaw axis rate controller target frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller target frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 2 to 50 | hertz | +-----------+---------+-------+ .. _YAW_RATE_FLTE: YAW\_RATE\_FLTE: Yaw axis rate controller error frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller error frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 2 to 50 | hertz | +-----------+---------+-------+ .. _YAW_RATE_FLTD: YAW\_RATE\_FLTD: Yaw axis rate controller derivative frequency in Hz ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller derivative frequency in Hz +-----------+---------+-------+ | Increment | Range | Units | +===========+=========+=======+ | 1 | 0 to 50 | hertz | +-----------+---------+-------+ .. _YAW_RATE_SMAX: YAW\_RATE\_SMAX: Yaw slew rate limit ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. +-----------+----------+ | Increment | Range | +===========+==========+ | 0.5 | 0 to 200 | +-----------+----------+ .. _YAW_RATE_PDMX: YAW\_RATE\_PDMX: Yaw axis rate controller PD sum maximum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Yaw axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output +-----------+--------+ | Increment | Range | +===========+========+ | 0.01 | 0 to 1 | +-----------+--------+ .. _YAW_RATE_D_FF: YAW\_RATE\_D\_FF: Yaw Derivative FeedForward Gain ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* FF D Gain which produces an output that is proportional to the rate of change of the target +-----------+-----------+ | Increment | Range | +===========+===========+ | 0.001 | 0 to 0.03 | +-----------+-----------+ .. _YAW_RATE_NTF: YAW\_RATE\_NTF: Yaw Target notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Target notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+ .. _YAW_RATE_NEF: YAW\_RATE\_NEF: Yaw Error notch filter index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* Yaw Error notch filter index\, zero disables +--------+ | Range | +========+ | 0 to 8 | +--------+