#summary Dynamically generated list of documented parameters = Table of Contents = = Vehicles = == !ArduSub Parameters == === Depth reading at surface (!ArduSub:SURFACE_DEPTH) === _The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)_ * Range: -100 0 * Units: centimeters === Eeprom format version number (!ArduSub:FORMAT_VERSION) === _This value is incremented when changes are made to the eeprom format_ * !ReadOnly: True === MAVLink system ID of this vehicle (!ArduSub:SYSID_THISMAV) === _Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network_ * Range: 1 255 === My ground station number (!ArduSub:SYSID_MYGCS) === _Allows restricting radio overrides to only come from my ground station_ === Throttle filter cutoff (!ArduSub:PILOT_THR_FILT) === _Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable_ * Range: 0 10 * Increment: .5 * Units: hertz === GCS PID tuning mask (!ArduSub:GCS_PID_MASK) === _bitmask of PIDs to send MAVLink PID`_`TUNING messages for_ * Bitmask: 0:Roll,1:Pitch,2:Yaw * Values || *Value* || *Meaning* || || 0 || None || || 1 || Roll || || 2 || Pitch || || 4 || Yaw || === Rangefinder gain (!ArduSub:RNGFND_GAIN) === _Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub_ * Range: 0.01 2.0 * Increment: 0.01 === Ground Station Failsafe Enable (!ArduSub:FS_GCS_ENABLE) === _Controls what action to take when GCS heartbeat is lost._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Warn only || || 2 || Disarm || || 3 || Enter depth hold mode || || 4 || Enter surface mode || === Leak Failsafe Enable (!ArduSub:FS_LEAK_ENABLE) === _Controls what action to take if a leak is detected._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Warn only || || 2 || Enter surface mode || === Internal Pressure Failsafe Enable (!ArduSub:FS_PRESS_ENABLE) === _Controls what action to take if internal pressure exceeds FS`_`PRESS`_`MAX parameter._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Warn only || === Internal Temperature Failsafe Enable (!ArduSub:FS_TEMP_ENABLE) === _Controls what action to take if internal temperature exceeds FS`_`TEMP`_`MAX parameter._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Warn only || === Internal Pressure Failsafe Threshold (!ArduSub:FS_PRESS_MAX) === _The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS`_`PRESS`_`ENABLE parameter_ * Units: pascal === Internal Temperature Failsafe Threshold (!ArduSub:FS_TEMP_MAX) === _The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS`_`TEMP`_`ENABLE parameter._ * Units: degrees Celsius === Terrain Failsafe Enable (!ArduSub:FS_TERRAIN_ENAB) === _Controls what action to take if terrain information is lost during AUTO mode_ * Values || *Value* || *Meaning* || || 0 || Disarm || || 1 || Hold Position || || 2 || Surface || === Pilot input failsafe action (!ArduSub:FS_PILOT_INPUT) === _Controls what action to take if no pilot input has been received after the timeout period specified by the FS`_`PILOT`_`TIMEOUT parameter_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Warn Only || || 2 || Disarm || === Timeout for activation of pilot input failsafe (!ArduSub:FS_PILOT_TIMEOUT) === _Controls the maximum interval between received pilot inputs before the failsafe action is triggered_ * Range: 0.1 3.0 * Units: seconds === Crosstrack correction angle limit (!ArduSub:XTRACK_ANG_LIM) === _Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation_ * Range: 10 90 === Yaw behaviour during missions (!ArduSub:WP_YAW_BEHAVIOR) === _Determines how the autopilot controls the yaw during missions and RTL_ * Values || *Value* || *Meaning* || || 0 || Never change yaw || || 1 || Face next waypoint || || 2 || Face next waypoint except RTL || || 3 || Face along GPS course || || 4 || Correct crosstrack error || === Pilot maximum vertical ascending speed (!ArduSub:PILOT_SPEED_UP) === _The maximum vertical ascending velocity the pilot may request in cm`/`s_ * Range: 50 500 * Increment: 10 * Units: centimeters per second === Pilot maximum vertical descending speed (!ArduSub:PILOT_SPEED_DN) === _The maximum vertical descending velocity the pilot may request in cm`/`s_ * Range: 50 500 * Increment: 10 * Units: centimeters per second === Pilot vertical acceleration (!ArduSub:PILOT_ACCEL_Z) === _The vertical acceleration used when pilot is controlling the altitude_ * Range: 50 500 * Increment: 10 * Units: centimeters per square second === Throttle deadzone (!ArduSub:THR_DZ) === _The PWM deadzone in microseconds above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes_ * Range: 0 300 * Increment: 1 * Units: PWM in microseconds === Log bitmask (!ArduSub:LOG_BITMASK) === _4 byte bitmap of log types to enable_ * Bitmask: 0:ATTITUDE`_`FAST,1:ATTITUDE`_`MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU`_`FAST,19:IMU`_`RAW * Values || *Value* || *Meaning* || || 830 || Default || || 894 || Default+RCIN || || 958 || Default+IMU || || 1854 || Default+Motors || || -6146 || !NearlyAll-AC315 || || 45054 || !NearlyAll || || 131071 || All+FastATT || || 262142 || All+MotBatt || || 393214 || All+FastIMU || || 397310 || All+FastIMU+PID || || 655358 || All+FullIMU || || 0 || Disabled || === Angle Max (!ArduSub:ANGLE_MAX) === _Maximum lean angle in all flight modes_ * Range: 1000 8000 * Units: centidegrees === EKF Failsafe Action (!ArduSub:FS_EKF_ACTION) === _Controls the action that will be taken when an EKF failsafe is invoked_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Warn only || || 2 || Disarm || === EKF failsafe variance threshold (!ArduSub:FS_EKF_THRESH) === _Allows setting the maximum acceptable compass and velocity variance_ * Values: 0.6:Strict,0.8:Default,1.0:Relaxed === Crash check enable (!ArduSub:FS_CRASH_CHECK) === _This enables automatic crash checking. When enabled the motors will disarm if a crash is detected._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Warn only || || 2 || Disarm || === Default gain at boot (!ArduSub:JS_GAIN_DEFAULT) === _Default gain at boot, must be in range `[`JS`_`GAIN`_`MIN , JS`_`GAIN`_`MAX`]`_ * Range: 0.1 1.0 === Maximum joystick gain (!ArduSub:JS_GAIN_MAX) === _Maximum joystick gain_ * Range: 0.2 1.0 === Minimum joystick gain (!ArduSub:JS_GAIN_MIN) === _Minimum joystick gain_ * Range: 0.1 0.8 === Gain steps (!ArduSub:JS_GAIN_STEPS) === _Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS`_`GAIN`_`DEFAULT._ * Range: 1 10 === Lights brightness steps (!ArduSub:JS_LIGHTS_STEPS) === _Number of steps in brightness between minimum and maximum brightness_ * Range: 1 10 * Units: PWM in microseconds === Throttle gain scalar (!ArduSub:JS_THR_GAIN) === _Scalar for gain on the throttle channel_ * Range: 0.5 4.0 === Frame configuration (!ArduSub:FRAME_CONFIG) === _Set this parameter according to your vehicle`/`motor configuration_ * Values || *Value* || *Meaning* || || 0 || !BlueROV1 || || 1 || Vectored || || 2 || Vectored_6DOF || || 3 || Vectored_6DOF_90 || || 4 || !SimpleROV-3 || || 5 || !SimpleROV-4 || || 6 || !SimpleROV-5 || || 7 || Custom || * !RebootRequired: True === ESC Update Speed (!ArduSub:RC_SPEED) === _This is the speed in Hertz that your ESCs will receive updates_ * Range: 50 490 * Increment: 1 * Units: hertz === Acro Roll and Pitch P gain (!ArduSub:ACRO_RP_P) === _Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation._ * Range: 1 10 === Acro Yaw P gain (!ArduSub:ACRO_YAW_P) === _Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation._ * Range: 1 10 === Acro Balance Roll (!ArduSub:ACRO_BAL_ROLL) === _rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster._ * Range: 0 3 * Increment: 0.1 === Acro Balance Pitch (!ArduSub:ACRO_BAL_PITCH) === _rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster._ * Range: 0 3 * Increment: 0.1 === Acro Trainer (!ArduSub:ACRO_TRAINER) === _Type of trainer used in acro mode_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Leveling || || 2 || Leveling and Limited || === Acro Expo (!ArduSub:ACRO_EXPO) === _Acro roll`/`pitch Expo to allow faster rotation when stick at edges_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 0.1 || Very Low || || 0.2 || Low || || 0.3 || Medium || || 0.4 || High || || 0.5 || Very High || =Libraries= == AHRS_ Parameters == === AHRS GPS gain (AHRS_GPS_GAIN) === _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._ * Range: 0.0 1.0 * Increment: .01 === AHRS use GPS for navigation (AHRS_GPS_USE) === _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 whenever it is available._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Yaw P (AHRS_YAW_P) === _This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly._ * Range: 0.1 0.4 * Increment: .01 === AHRS RP_P (AHRS_RP_P) === _This controls how fast the accelerometers correct the attitude_ * Range: 0.1 0.4 * Increment: .01 === Maximum wind (AHRS_WIND_MAX) === _This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is. See ARSPD`_`OPTIONS and ARSPD`_`MAX`_`WIND to disable airspeed sensors._ * Range: 0 127 * Increment: 1 * Units: meters per second === AHRS Trim Roll (AHRS_TRIM_X) === _Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right._ * Range: -0.1745 +0.1745 * Increment: 0.01 * Units: radians === AHRS Trim Pitch (AHRS_TRIM_Y) === _Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up`/`back._ * Range: -0.1745 +0.1745 * Increment: 0.01 * Units: radians === AHRS Trim Yaw (AHRS_TRIM_Z) === _Not Used_ * Range: -0.1745 +0.1745 * Increment: 0.01 * Units: radians === Board Orientation (AHRS_ORIENTATION) === _Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle._ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Yaw45 || || 2 || Yaw90 || || 3 || Yaw135 || || 4 || Yaw180 || || 5 || Yaw225 || || 6 || Yaw270 || || 7 || Yaw315 || || 8 || Roll180 || || 9 || Roll180Yaw45 || || 10 || Roll180Yaw90 || || 11 || Roll180Yaw135 || || 12 || Pitch180 || || 13 || Roll180Yaw225 || || 14 || Roll180Yaw270 || || 15 || Roll180Yaw315 || || 16 || Roll90 || || 17 || Roll90Yaw45 || || 18 || Roll90Yaw90 || || 19 || Roll90Yaw135 || || 20 || Roll270 || || 21 || Roll270Yaw45 || || 22 || Roll270Yaw90 || || 23 || Roll270Yaw135 || || 24 || Pitch90 || || 25 || Pitch270 || || 26 || Pitch180Yaw90 || || 27 || Pitch180Yaw270 || || 28 || Roll90Pitch90 || || 29 || Roll180Pitch90 || || 30 || Roll270Pitch90 || || 31 || Roll90Pitch180 || || 32 || Roll270Pitch180 || || 33 || Roll90Pitch270 || || 34 || Roll180Pitch270 || || 35 || Roll270Pitch270 || || 36 || Roll90Pitch180Yaw90 || || 37 || Roll90Yaw270 || || 38 || Yaw293Pitch68Roll180 || || 39 || Pitch315 || || 40 || Roll90Pitch315 || || 100 || Custom || === AHRS Velocity Complementary Filter Beta Coefficient (AHRS_COMP_BETA) === _This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1`/`beta. A larger time constant will use GPS data less and a small time constant will use air data less._ * Range: 0.001 0.5 * Increment: .01 === AHRS GPS Minimum satellites (AHRS_GPS_MINSATS) === _Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers._ * Range: 0 10 * Increment: 1 === Use NavEKF Kalman filter for attitude and position estimation (AHRS_EKF_TYPE) === _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 || || 11 || !ExternalAHRS || === Board orientation roll offset (AHRS_CUSTOM_ROLL) === _Autopilot mounting position roll offset. Positive values `=` roll right, negative values `=` roll left. This parameter is only used when AHRS`_`ORIENTATION is set to CUSTOM._ * Range: -180 180 * Increment: 1 * Units: degrees === Board orientation pitch offset (AHRS_CUSTOM_PIT) === _Autopilot mounting position pitch offset. Positive values `=` pitch up, negative values `=` pitch down. This parameter is only used when AHRS`_`ORIENTATION is set to CUSTOM._ * Range: -180 180 * Increment: 1 * Units: degrees === Board orientation yaw offset (AHRS_CUSTOM_YAW) === _Autopilot mounting position yaw offset. Positive values `=` yaw right, negative values `=` yaw left. This parameter is only used when AHRS`_`ORIENTATION is set to CUSTOM._ * Range: -180 180 * Increment: 1 * Units: degrees == ARMING_ Parameters == === Accelerometer error threshold (ARMING_ACCTHRESH) === _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: 0.25 3.0 * Units: meters per square second === Arming with Rudder enable/disable (ARMING_RUDDER) === _Allow arm`/`disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx`_`DZ)_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || !ArmingOnly || || 2 || !ArmOrDisarm || === Required mission items (ARMING_MIS_ITEMS) === _Bitmask of mission items that are required to be planned in order to arm the aircraft_ * Bitmask: 0:Land,1:VTOL Land,2:DO`_`LAND`_`START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint === Arm Checks to Perform (bitmask) (ARMING_CHECK) === _Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING`_`CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks._ * Bitmask: 0:All,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 * Values || *Value* || *Meaning* || || 0 || None || || 1 || All || || 2 || Barometer || || 4 || Compass || || 8 || GPS Lock || || 16 || INS(INertial Sensors - accels & gyros) || || 32 || Parameters || || 64 || RC Channels || || 128 || Board voltage || || 256 || Battery Level || || 512 || Airspeed || || 1024 || !LoggingAvailable || || 2048 || Hardware safety switch || || 4096 || GPS configuration || || 8192 || System || || 16384 || Mission || || 32768 || !RangeFinder || || 65536 || Camera || || 131072 || !AuxAuth || || 524288 || FFT || == ARSPD Parameters == === Airspeed type (ARSPD_TYPE) === _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 || UAVCAN || || 9 || I2C-DLVR-10in || || 10 || I2C-DLVR-20in || || 11 || I2C-DLVR-30in || || 12 || I2C-DLVR-60in || || 13 || NMEA water speed || || 14 || MSP || || 15 || ASP5033 || === Airspeed use (ARSPD_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 || === Airspeed offset (ARSPD_OFFSET) === _Airspeed calibration offset_ * Increment: 0.1 === Airspeed ratio (ARSPD_RATIO) === _Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure._ * Increment: 0.1 === Airspeed pin (ARSPD_PIN) === _The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. _ === Automatic airspeed ratio calibration (ARSPD_AUTOCAL) === _Enables automatic adjustment of ARSPD`_`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._ === Control pitot tube order (ARSPD_TUBE_ORDER) === _Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed._ === Skip airspeed calibration on startup (ARSPD_SKIP_CAL) === _This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last 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 || Enable || === The PSI range of the device (ARSPD_PSI_RANGE) === _This parameter allows you to 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_ === Airspeed I2C bus (ARSPD_BUS) === _Bus number of the I2C bus where the airspeed sensor is connected_ * Values || *Value* || *Meaning* || || 0 || Bus0(internal) || || 1 || Bus1(external) || || 2 || Bus2(auxillary) || === Primary airspeed sensor (ARSPD_PRIMARY) === _This selects which airspeed sensor will be the primary if multiple sensors are found_ * Values || *Value* || *Meaning* || || 0 || !FirstSensor || || 1 || 2ndSensor || === Airspeed options bitmask (ARSPD_OPTIONS) === _Bitmask of options to use with airspeed. Disable and`/`or re-enable sensor based on the difference between airspeed and ground speed based on ARSPD`_`WIND`_`MAX threshold, if set_ * Bitmask: 0:Disable sensor, 1:Re-enable sensor === Maximum airspeed and ground speed difference (ARSPD_WIND_MAX) === _If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD`_`OPTION this health value can be used to disable the sensor._ * Units: meters per second === Airspeed and ground speed difference that gives a warning (ARSPD_WIND_WARN) === _If the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD`_`WIND`_`MAX is used._ * Units: meters per second === Second Airspeed type (ARSPD2_TYPE) === _Type of 2nd 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 || UAVCAN || || 9 || I2C-DLVR-10in || || 10 || I2C-DLVR-20in || || 11 || I2C-DLVR-30in || || 12 || I2C-DLVR-60in || || 13 || NMEA water speed || || 14 || MSP || || 15 || ASP5033 || === Enable use of 2nd airspeed sensor (ARSPD2_USE) === _use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller_ * Values || *Value* || *Meaning* || || 0 || Don't Use || || 1 || use || || 2 || !UseWhenZeroThrottle || === Airspeed offset for 2nd airspeed sensor (ARSPD2_OFFSET) === _Airspeed calibration offset_ * Increment: 0.1 === Airspeed ratio for 2nd airspeed sensor (ARSPD2_RATIO) === _Airspeed calibration ratio_ * Increment: 0.1 === Airspeed pin for 2nd airspeed sensor (ARSPD2_PIN) === _Pin number indicating location of analog airspeed sensors. Pixhawk`/`Cube if set to 15. _ === Automatic airspeed ratio calibration for 2nd airspeed sensor (ARSPD2_AUTOCAL) === _If this is enabled then the autopilot will automatically adjust the ARSPD`_`RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended._ === Control pitot tube order of 2nd airspeed sensor (ARSPD2_TUBE_ORDR) === _This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed._ === Skip airspeed calibration on startup for 2nd sensor (ARSPD2_SKIP_CAL) === _This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last 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 || Enable || === The PSI range of the device for 2nd sensor (ARSPD2_PSI_RANGE) === _This parameter allows you to 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_ === Airspeed I2C bus for 2nd sensor (ARSPD2_BUS) === _The bus number of the I2C bus to look for the sensor on_ * Values || *Value* || *Meaning* || || 0 || Bus0(internal) || || 1 || Bus1(external) || || 2 || Bus2(auxillary) || == ATC_ Parameters == === Yaw target slew rate (ATC_SLEW_YAW) === _Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes_ * Range: 500 18000 * Increment: 100 * Units: centidegrees per second === Acceleration Max for Yaw (ATC_ACCEL_Y_MAX) === _Maximum acceleration in yaw axis_ * Range: 0 72000 * Values || *Value* || *Meaning* || || 0 || Disabled || || 9000 || !VerySlow || || 18000 || Slow || || 36000 || Medium || || 54000 || Fast || * Increment: 1000 * Units: centidegrees per square second === Rate Feedforward Enable (ATC_RATE_FF_ENAB) === _Controls whether body-frame rate feedfoward is enabled or disabled_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Acceleration Max for Roll (ATC_ACCEL_R_MAX) === _Maximum acceleration in roll axis_ * Range: 0 180000 * Values || *Value* || *Meaning* || || 0 || Disabled || || 30000 || !VerySlow || || 72000 || Slow || || 108000 || Medium || || 162000 || Fast || * Increment: 1000 * Units: centidegrees per square second === Acceleration Max for Pitch (ATC_ACCEL_P_MAX) === _Maximum acceleration in pitch axis_ * Range: 0 180000 * Values || *Value* || *Meaning* || || 0 || Disabled || || 30000 || !VerySlow || || 72000 || Slow || || 108000 || Medium || || 162000 || Fast || * Increment: 1000 * Units: centidegrees per square second === Angle Boost (ATC_ANGLE_BOOST) === _Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Roll axis angle controller P gain (ATC_ANG_RLL_P) === _Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate_ * Range: 0.0 12.000 === Pitch axis angle controller P gain (ATC_ANG_PIT_P) === _Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate_ * Range: 0.0 12.000 === Yaw axis angle controller P gain (ATC_ANG_YAW_P) === _Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate_ * Range: 0.0 6.000 === Angle Limit (to maintain altitude) Time Constant (ATC_ANG_LIM_TC) === _Angle Limit (to maintain altitude) Time Constant_ * Range: 0.5 10.0 === Angular Velocity Max for Roll (ATC_RATE_R_MAX) === _Maximum angular velocity in roll axis_ * Range: 0 1080 * Values || *Value* || *Meaning* || || 0 || Disabled || || 360 || Slow || || 720 || Medium || || 1080 || Fast || * Increment: 1 * Units: degrees per second === Angular Velocity Max for Pitch (ATC_RATE_P_MAX) === _Maximum angular velocity in pitch axis_ * Range: 0 1080 * Values || *Value* || *Meaning* || || 0 || Disabled || || 360 || Slow || || 720 || Medium || || 1080 || Fast || * Increment: 1 * Units: degrees per second === Angular Velocity Max for Yaw (ATC_RATE_Y_MAX) === _Maximum angular velocity in yaw axis_ * Range: 0 1080 * Values || *Value* || *Meaning* || || 0 || Disabled || || 360 || Slow || || 720 || Medium || || 1080 || Fast || * Increment: 1 * Units: degrees per second === Attitude control input time constant (ATC_INPUT_TC) === _Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response_ * Range: 0 1 * Values: 0.5:Very Soft,0.2:Soft,0.15:Medium,0.1:Crisp,0.05:Very Crisp * Increment: 0.01 * Units: seconds === Roll axis rate controller P gain (ATC_RAT_RLL_P) === _Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output_ * Range: 0.0 0.30 * Increment: 0.005 === Roll axis rate controller I gain (ATC_RAT_RLL_I) === _Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate_ * Range: 0.0 0.5 * Increment: 0.01 === Roll axis rate controller I gain maximum (ATC_RAT_RLL_IMAX) === _Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output_ * Range: 0 1 * Increment: 0.01 * Units: percent === Roll axis rate controller D gain (ATC_RAT_RLL_D) === _Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate_ * Range: 0.0 0.02 * Increment: 0.001 === Roll axis rate controller feed forward (ATC_RAT_RLL_FF) === _Roll axis rate controller feed forward_ * Range: 0 0.5 * Increment: 0.001 === Roll axis rate controller input frequency in Hz (ATC_RAT_RLL_FLTT) === _Roll axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Roll axis rate controller input frequency in Hz (ATC_RAT_RLL_FLTE) === _Roll axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Roll axis rate controller input frequency in Hz (ATC_RAT_RLL_FLTD) === _Roll axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Roll slew rate limit (ATC_RAT_RLL_SMAX) === _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._ * Range: 0 200 * Increment: 0.5 === Pitch axis rate controller P gain (ATC_RAT_PIT_P) === _Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output_ * Range: 0.0 0.30 * Increment: 0.005 === Pitch axis rate controller I gain (ATC_RAT_PIT_I) === _Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate_ * Range: 0.0 0.5 * Increment: 0.01 === Pitch axis rate controller I gain maximum (ATC_RAT_PIT_IMAX) === _Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output_ * Range: 0 1 * Increment: 0.01 * Units: percent === Pitch axis rate controller D gain (ATC_RAT_PIT_D) === _Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate_ * Range: 0.0 0.02 * Increment: 0.001 === Pitch axis rate controller feed forward (ATC_RAT_PIT_FF) === _Pitch axis rate controller feed forward_ * Range: 0 0.5 * Increment: 0.001 === Pitch axis rate controller input frequency in Hz (ATC_RAT_PIT_FLTT) === _Pitch axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Pitch axis rate controller input frequency in Hz (ATC_RAT_PIT_FLTE) === _Pitch axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Pitch axis rate controller input frequency in Hz (ATC_RAT_PIT_FLTD) === _Pitch axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Pitch slew rate limit (ATC_RAT_PIT_SMAX) === _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._ * Range: 0 200 * Increment: 0.5 === Yaw axis rate controller P gain (ATC_RAT_YAW_P) === _Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output_ * Range: 0.0 0.50 * Increment: 0.005 === Yaw axis rate controller I gain (ATC_RAT_YAW_I) === _Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate_ * Range: 0.0 0.05 * Increment: 0.01 === Yaw axis rate controller I gain maximum (ATC_RAT_YAW_IMAX) === _Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output_ * Range: 0 1 * Increment: 0.01 * Units: percent === Yaw axis rate controller D gain (ATC_RAT_YAW_D) === _Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate_ * Range: 0.000 0.02 * Increment: 0.001 === Yaw axis rate controller feed forward (ATC_RAT_YAW_FF) === _Yaw axis rate controller feed forward_ * Range: 0 0.5 * Increment: 0.001 === Yaw axis rate controller input frequency in Hz (ATC_RAT_YAW_FLTT) === _Yaw axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Yaw axis rate controller input frequency in Hz (ATC_RAT_YAW_FLTE) === _Yaw axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Yaw axis rate controller input frequency in Hz (ATC_RAT_YAW_FLTD) === _Yaw axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Yaw slew rate limit (ATC_RAT_YAW_SMAX) === _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._ * Range: 0 200 * Increment: 0.5 === Throttle Mix Minimum (ATC_THR_MIX_MIN) === _Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)_ * Range: 0.1 0.25 === Throttle Mix Maximum (ATC_THR_MIX_MAX) === _Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)_ * Range: 0.5 0.9 === Throttle Mix Manual (ATC_THR_MIX_MAN) === _Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)_ * Range: 0.5 0.9 === Roll axis rate controller input frequency in Hz (ATC_RAT_RLL_FILT) === _Roll axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Pitch axis rate controller input frequency in Hz (ATC_RAT_PIT_FILT) === _Pitch axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Yaw axis rate controller input frequency in Hz (ATC_RAT_YAW_FILT) === _Yaw axis rate controller input frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz == AVOID_ Parameters == === Avoidance control enable/disable (AVOID_ENABLE) === _Enabled`/`disable avoidance input sources_ * Bitmask: 0:UseFence,1:UseProximitySensor,2:UseBeaconFence * Values || *Value* || *Meaning* || || 0 || None || || 1 || !UseFence || || 2 || !UseProximitySensor || || 3 || !UseFence and UseProximitySensor || || 4 || !UseBeaconFence || || 7 || All || === Avoidance distance margin in GPS modes (AVOID_MARGIN) === _Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes_ * Range: 1 10 * Units: meters === Avoidance maximum backup speed (AVOID_BACKUP_SPD) === _Maximum speed that will be used to back away from obstacles in GPS modes (m`/`s). Set zero to disable_ * Range: 0 2 * Units: meters per second === Avoidance minimum altitude (AVOID_ALT_MIN) === _Minimum altitude above which proximity based avoidance will start working. This requires a valid downward facing rangefinder reading to work. Set zero to disable_ * Range: 0 6 * Units: meters === Avoidance maximum acceleration (AVOID_ACCEL_MAX) === _Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits_ * Range: 0 9 * Units: meters per square second == BARO Parameters == === Ground Pressure (BARO1_GND_PRESS) === _calibrated ground pressure in Pascals_ * !ReadOnly: True * Volatile: True * Increment: 1 * Units: pascal === ground temperature (BARO_GND_TEMP) === _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._ * Volatile: True * Increment: 1 * Units: degrees Celsius === altitude offset (BARO_ALT_OFFSET) === _altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed._ * Increment: 0.1 * Units: meters === Primary barometer (BARO_PRIMARY) === _This selects which barometer will be the primary if multiple barometers are found_ * Values || *Value* || *Meaning* || || 0 || !FirstBaro || || 1 || 2ndBaro || || 2 || 3rdBaro || === External baro bus (BARO_EXT_BUS) === _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 GND`_`PROBE`_`EXT parameter._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 0 || Bus0 || || 1 || Bus1 || === Specific Gravity (For water depth measurement) (BARO_SPEC_GRAV) === _This sets the specific gravity of the fluid when flying an underwater ROV._ * Values: 1.0:Freshwater,1.024:Saltwater === Ground Pressure (BARO2_GND_PRESS) === _calibrated ground pressure in Pascals_ * !ReadOnly: True * Volatile: True * Increment: 1 * Units: pascal === Absolute Pressure (BARO3_GND_PRESS) === _calibrated ground pressure in Pascals_ * !ReadOnly: True * Volatile: True * Increment: 1 * Units: pascal === Range in which sample is accepted (BARO_FLTR_RNG) === _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._ * Range: 0 100 * Increment: 1 * Units: percent === External barometers to probe (BARO_PROBE_EXT) === _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 GND`_`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 GND`_`EXT`_`BUS._ * Bitmask: 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 * Values || *Value* || *Meaning* || || 1 || BMP085 || || 2 || BMP280 || || 4 || MS5611 || || 8 || MS5607 || || 16 || MS5637 || || 32 || FBM320 || || 64 || DPS280 || || 128 || LPS25H || || 256 || Keller || || 512 || MS5837 || || 1024 || BMP388 || || 2048 || SPL06 || || 4096 || MSP || === Baro ID (BARO1_DEVID) === _Barometer sensor ID, taking into account its type, bus and instance_ * !ReadOnly: True === Baro ID2 (BARO2_DEVID) === _Barometer2 sensor ID, taking into account its type, bus and instance_ * !ReadOnly: True === Baro ID3 (BARO3_DEVID) === _Barometer3 sensor ID, taking into account its type, bus and instance_ * !ReadOnly: True == BARO1_WCF_ Parameters == === Wind coefficient enable (BARO1_WCF_ENABLE) === _This enables the use of wind coefficients for barometer compensation_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Pressure error coefficient in positive X direction (forward) (BARO1_WCF_FWD) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 === Pressure error coefficient in negative X direction (backwards) (BARO1_WCF_BCK) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 === Pressure error coefficient in positive Y direction (right) (BARO1_WCF_RGT) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 === Pressure error coefficient in negative Y direction (left) (BARO1_WCF_LFT) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 == BARO2_WCF_ Parameters == === Wind coefficient enable (BARO2_WCF_ENABLE) === _This enables the use of wind coefficients for barometer compensation_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Pressure error coefficient in positive X direction (forward) (BARO2_WCF_FWD) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 === Pressure error coefficient in negative X direction (backwards) (BARO2_WCF_BCK) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 === Pressure error coefficient in positive Y direction (right) (BARO2_WCF_RGT) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 === Pressure error coefficient in negative Y direction (left) (BARO2_WCF_LFT) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 == BARO3_WCF_ Parameters == === Wind coefficient enable (BARO3_WCF_ENABLE) === _This enables the use of wind coefficients for barometer compensation_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Pressure error coefficient in positive X direction (forward) (BARO3_WCF_FWD) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 === Pressure error coefficient in negative X direction (backwards) (BARO3_WCF_BCK) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 === Pressure error coefficient in positive Y direction (right) (BARO3_WCF_RGT) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 === Pressure error coefficient in negative Y direction (left) (BARO3_WCF_LFT) === _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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters have been tuned._ * Range: -1.0 1.0 * Increment: 0.05 == BATT2_ Parameters == === Battery monitoring (BATT2_MONITOR) === _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 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC || || 10 || !SumOfFollowing || || 11 || !FuelFlow || || 12 || !FuelLevelPWM || || 13 || SMBUS-SUI3 || || 14 || SMBUS-SUI6 || || 15 || !NeoDesign || || 16 || SMBus-Maxell || || 17 || Generator-Elec || || 18 || Generator-Fuel || || 19 || Rotoye || * !RebootRequired: True === Battery Voltage sensing pin (BATT2_VOLT_PIN) === _Sets the analog input pin that should be used for voltage monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2/CubeOrange_PM2 || || 14 || !CubeOrange || || 16 || Durandal || || 100 || PX4-v1 || * !RebootRequired: True === Battery Current sensing pin (BATT2_CURR_PIN) === _Sets the analog input pin that should be used for current monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 4 || !CubeOrange_PM2 || || 14 || Pixhawk2_PM2 || || 15 || !CubeOrange || || 17 || Durandal || || 101 || PX4-v1 || * !RebootRequired: True === Voltage Multiplier (BATT2_VOLT_MULT) === _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._ === Amps per volt (BATT2_AMP_PERVLT) === _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._ * Units: ampere per volt === AMP offset (BATT2_AMP_OFFSET) === _Voltage offset at zero current on current sensor_ * Units: volt === Battery capacity (BATT2_CAPACITY) === _Capacity of the battery in mAh when full_ * Increment: 50 * Units: milliampere hour === Battery serial number (BATT2_SERIAL_NUM) === _Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery`_`id._ === Low voltage timeout (BATT2_LOW_TIMER) === _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._ * Range: 0 120 * Increment: 1 * Units: seconds === Failsafe voltage source (BATT2_FS_VOLTSRC) === _Voltage type used for detection of low voltage event_ * Values || *Value* || *Meaning* || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage || === Low battery voltage (BATT2_LOW_VOLT) === _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: 0.1 * Units: volt === Low battery capacity (BATT2_LOW_MAH) === _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: 50 * Units: milliampere hour === Critical battery voltage (BATT2_CRT_VOLT) === _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: 0.1 * Units: volt === Battery critical capacity (BATT2_CRT_MAH) === _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: 50 * Units: milliampere hour === Low battery failsafe action (BATT2_FS_LOW_ACT) === _What action the vehicle should perform if it hits a low battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Critical battery failsafe action (BATT2_FS_CRT_ACT) === _What action the vehicle should perform if it hits a critical battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Required arming voltage (BATT2_ARM_VOLT) === _Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage._ * Increment: 0.1 * Units: volt === Required arming remaining capacity (BATT2_ARM_MAH) === _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: 50 * Units: milliampere hour === Battery monitor I2C bus number (BATT2_BUS) === _Battery monitor I2C bus number_ * Range: 0 3 === Battery monitor options (BATT2_OPTIONS) === _This sets options to change the behaviour of the battery monitor_ * Bitmask: 1:IgnoreUAVCAN SoC == BATT3_ Parameters == === Battery monitoring (BATT3_MONITOR) === _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 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC || || 10 || !SumOfFollowing || || 11 || !FuelFlow || || 12 || !FuelLevelPWM || || 13 || SMBUS-SUI3 || || 14 || SMBUS-SUI6 || || 15 || !NeoDesign || || 16 || SMBus-Maxell || || 17 || Generator-Elec || || 18 || Generator-Fuel || || 19 || Rotoye || * !RebootRequired: True === Battery Voltage sensing pin (BATT3_VOLT_PIN) === _Sets the analog input pin that should be used for voltage monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2/CubeOrange_PM2 || || 14 || !CubeOrange || || 16 || Durandal || || 100 || PX4-v1 || * !RebootRequired: True === Battery Current sensing pin (BATT3_CURR_PIN) === _Sets the analog input pin that should be used for current monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 4 || !CubeOrange_PM2 || || 14 || Pixhawk2_PM2 || || 15 || !CubeOrange || || 17 || Durandal || || 101 || PX4-v1 || * !RebootRequired: True === Voltage Multiplier (BATT3_VOLT_MULT) === _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._ === Amps per volt (BATT3_AMP_PERVLT) === _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._ * Units: ampere per volt === AMP offset (BATT3_AMP_OFFSET) === _Voltage offset at zero current on current sensor_ * Units: volt === Battery capacity (BATT3_CAPACITY) === _Capacity of the battery in mAh when full_ * Increment: 50 * Units: milliampere hour === Battery serial number (BATT3_SERIAL_NUM) === _Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery`_`id._ === Low voltage timeout (BATT3_LOW_TIMER) === _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._ * Range: 0 120 * Increment: 1 * Units: seconds === Failsafe voltage source (BATT3_FS_VOLTSRC) === _Voltage type used for detection of low voltage event_ * Values || *Value* || *Meaning* || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage || === Low battery voltage (BATT3_LOW_VOLT) === _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: 0.1 * Units: volt === Low battery capacity (BATT3_LOW_MAH) === _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: 50 * Units: milliampere hour === Critical battery voltage (BATT3_CRT_VOLT) === _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: 0.1 * Units: volt === Battery critical capacity (BATT3_CRT_MAH) === _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: 50 * Units: milliampere hour === Low battery failsafe action (BATT3_FS_LOW_ACT) === _What action the vehicle should perform if it hits a low battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Critical battery failsafe action (BATT3_FS_CRT_ACT) === _What action the vehicle should perform if it hits a critical battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Required arming voltage (BATT3_ARM_VOLT) === _Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage._ * Increment: 0.1 * Units: volt === Required arming remaining capacity (BATT3_ARM_MAH) === _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: 50 * Units: milliampere hour === Battery monitor I2C bus number (BATT3_BUS) === _Battery monitor I2C bus number_ * Range: 0 3 === Battery monitor options (BATT3_OPTIONS) === _This sets options to change the behaviour of the battery monitor_ * Bitmask: 1:IgnoreUAVCAN SoC == BATT4_ Parameters == === Battery monitoring (BATT4_MONITOR) === _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 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC || || 10 || !SumOfFollowing || || 11 || !FuelFlow || || 12 || !FuelLevelPWM || || 13 || SMBUS-SUI3 || || 14 || SMBUS-SUI6 || || 15 || !NeoDesign || || 16 || SMBus-Maxell || || 17 || Generator-Elec || || 18 || Generator-Fuel || || 19 || Rotoye || * !RebootRequired: True === Battery Voltage sensing pin (BATT4_VOLT_PIN) === _Sets the analog input pin that should be used for voltage monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2/CubeOrange_PM2 || || 14 || !CubeOrange || || 16 || Durandal || || 100 || PX4-v1 || * !RebootRequired: True === Battery Current sensing pin (BATT4_CURR_PIN) === _Sets the analog input pin that should be used for current monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 4 || !CubeOrange_PM2 || || 14 || Pixhawk2_PM2 || || 15 || !CubeOrange || || 17 || Durandal || || 101 || PX4-v1 || * !RebootRequired: True === Voltage Multiplier (BATT4_VOLT_MULT) === _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._ === Amps per volt (BATT4_AMP_PERVLT) === _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._ * Units: ampere per volt === AMP offset (BATT4_AMP_OFFSET) === _Voltage offset at zero current on current sensor_ * Units: volt === Battery capacity (BATT4_CAPACITY) === _Capacity of the battery in mAh when full_ * Increment: 50 * Units: milliampere hour === Battery serial number (BATT4_SERIAL_NUM) === _Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery`_`id._ === Low voltage timeout (BATT4_LOW_TIMER) === _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._ * Range: 0 120 * Increment: 1 * Units: seconds === Failsafe voltage source (BATT4_FS_VOLTSRC) === _Voltage type used for detection of low voltage event_ * Values || *Value* || *Meaning* || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage || === Low battery voltage (BATT4_LOW_VOLT) === _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: 0.1 * Units: volt === Low battery capacity (BATT4_LOW_MAH) === _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: 50 * Units: milliampere hour === Critical battery voltage (BATT4_CRT_VOLT) === _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: 0.1 * Units: volt === Battery critical capacity (BATT4_CRT_MAH) === _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: 50 * Units: milliampere hour === Low battery failsafe action (BATT4_FS_LOW_ACT) === _What action the vehicle should perform if it hits a low battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Critical battery failsafe action (BATT4_FS_CRT_ACT) === _What action the vehicle should perform if it hits a critical battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Required arming voltage (BATT4_ARM_VOLT) === _Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage._ * Increment: 0.1 * Units: volt === Required arming remaining capacity (BATT4_ARM_MAH) === _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: 50 * Units: milliampere hour === Battery monitor I2C bus number (BATT4_BUS) === _Battery monitor I2C bus number_ * Range: 0 3 === Battery monitor options (BATT4_OPTIONS) === _This sets options to change the behaviour of the battery monitor_ * Bitmask: 1:IgnoreUAVCAN SoC == BATT5_ Parameters == === Battery monitoring (BATT5_MONITOR) === _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 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC || || 10 || !SumOfFollowing || || 11 || !FuelFlow || || 12 || !FuelLevelPWM || || 13 || SMBUS-SUI3 || || 14 || SMBUS-SUI6 || || 15 || !NeoDesign || || 16 || SMBus-Maxell || || 17 || Generator-Elec || || 18 || Generator-Fuel || || 19 || Rotoye || * !RebootRequired: True === Battery Voltage sensing pin (BATT5_VOLT_PIN) === _Sets the analog input pin that should be used for voltage monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2/CubeOrange_PM2 || || 14 || !CubeOrange || || 16 || Durandal || || 100 || PX4-v1 || * !RebootRequired: True === Battery Current sensing pin (BATT5_CURR_PIN) === _Sets the analog input pin that should be used for current monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 4 || !CubeOrange_PM2 || || 14 || Pixhawk2_PM2 || || 15 || !CubeOrange || || 17 || Durandal || || 101 || PX4-v1 || * !RebootRequired: True === Voltage Multiplier (BATT5_VOLT_MULT) === _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._ === Amps per volt (BATT5_AMP_PERVLT) === _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._ * Units: ampere per volt === AMP offset (BATT5_AMP_OFFSET) === _Voltage offset at zero current on current sensor_ * Units: volt === Battery capacity (BATT5_CAPACITY) === _Capacity of the battery in mAh when full_ * Increment: 50 * Units: milliampere hour === Battery serial number (BATT5_SERIAL_NUM) === _Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery`_`id._ === Low voltage timeout (BATT5_LOW_TIMER) === _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._ * Range: 0 120 * Increment: 1 * Units: seconds === Failsafe voltage source (BATT5_FS_VOLTSRC) === _Voltage type used for detection of low voltage event_ * Values || *Value* || *Meaning* || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage || === Low battery voltage (BATT5_LOW_VOLT) === _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: 0.1 * Units: volt === Low battery capacity (BATT5_LOW_MAH) === _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: 50 * Units: milliampere hour === Critical battery voltage (BATT5_CRT_VOLT) === _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: 0.1 * Units: volt === Battery critical capacity (BATT5_CRT_MAH) === _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: 50 * Units: milliampere hour === Low battery failsafe action (BATT5_FS_LOW_ACT) === _What action the vehicle should perform if it hits a low battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Critical battery failsafe action (BATT5_FS_CRT_ACT) === _What action the vehicle should perform if it hits a critical battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Required arming voltage (BATT5_ARM_VOLT) === _Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage._ * Increment: 0.1 * Units: volt === Required arming remaining capacity (BATT5_ARM_MAH) === _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: 50 * Units: milliampere hour === Battery monitor I2C bus number (BATT5_BUS) === _Battery monitor I2C bus number_ * Range: 0 3 === Battery monitor options (BATT5_OPTIONS) === _This sets options to change the behaviour of the battery monitor_ * Bitmask: 1:IgnoreUAVCAN SoC == BATT6_ Parameters == === Battery monitoring (BATT6_MONITOR) === _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 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC || || 10 || !SumOfFollowing || || 11 || !FuelFlow || || 12 || !FuelLevelPWM || || 13 || SMBUS-SUI3 || || 14 || SMBUS-SUI6 || || 15 || !NeoDesign || || 16 || SMBus-Maxell || || 17 || Generator-Elec || || 18 || Generator-Fuel || || 19 || Rotoye || * !RebootRequired: True === Battery Voltage sensing pin (BATT6_VOLT_PIN) === _Sets the analog input pin that should be used for voltage monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2/CubeOrange_PM2 || || 14 || !CubeOrange || || 16 || Durandal || || 100 || PX4-v1 || * !RebootRequired: True === Battery Current sensing pin (BATT6_CURR_PIN) === _Sets the analog input pin that should be used for current monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 4 || !CubeOrange_PM2 || || 14 || Pixhawk2_PM2 || || 15 || !CubeOrange || || 17 || Durandal || || 101 || PX4-v1 || * !RebootRequired: True === Voltage Multiplier (BATT6_VOLT_MULT) === _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._ === Amps per volt (BATT6_AMP_PERVLT) === _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._ * Units: ampere per volt === AMP offset (BATT6_AMP_OFFSET) === _Voltage offset at zero current on current sensor_ * Units: volt === Battery capacity (BATT6_CAPACITY) === _Capacity of the battery in mAh when full_ * Increment: 50 * Units: milliampere hour === Battery serial number (BATT6_SERIAL_NUM) === _Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery`_`id._ === Low voltage timeout (BATT6_LOW_TIMER) === _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._ * Range: 0 120 * Increment: 1 * Units: seconds === Failsafe voltage source (BATT6_FS_VOLTSRC) === _Voltage type used for detection of low voltage event_ * Values || *Value* || *Meaning* || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage || === Low battery voltage (BATT6_LOW_VOLT) === _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: 0.1 * Units: volt === Low battery capacity (BATT6_LOW_MAH) === _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: 50 * Units: milliampere hour === Critical battery voltage (BATT6_CRT_VOLT) === _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: 0.1 * Units: volt === Battery critical capacity (BATT6_CRT_MAH) === _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: 50 * Units: milliampere hour === Low battery failsafe action (BATT6_FS_LOW_ACT) === _What action the vehicle should perform if it hits a low battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Critical battery failsafe action (BATT6_FS_CRT_ACT) === _What action the vehicle should perform if it hits a critical battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Required arming voltage (BATT6_ARM_VOLT) === _Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage._ * Increment: 0.1 * Units: volt === Required arming remaining capacity (BATT6_ARM_MAH) === _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: 50 * Units: milliampere hour === Battery monitor I2C bus number (BATT6_BUS) === _Battery monitor I2C bus number_ * Range: 0 3 === Battery monitor options (BATT6_OPTIONS) === _This sets options to change the behaviour of the battery monitor_ * Bitmask: 1:IgnoreUAVCAN SoC == BATT7_ Parameters == === Battery monitoring (BATT7_MONITOR) === _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 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC || || 10 || !SumOfFollowing || || 11 || !FuelFlow || || 12 || !FuelLevelPWM || || 13 || SMBUS-SUI3 || || 14 || SMBUS-SUI6 || || 15 || !NeoDesign || || 16 || SMBus-Maxell || || 17 || Generator-Elec || || 18 || Generator-Fuel || || 19 || Rotoye || * !RebootRequired: True === Battery Voltage sensing pin (BATT7_VOLT_PIN) === _Sets the analog input pin that should be used for voltage monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2/CubeOrange_PM2 || || 14 || !CubeOrange || || 16 || Durandal || || 100 || PX4-v1 || * !RebootRequired: True === Battery Current sensing pin (BATT7_CURR_PIN) === _Sets the analog input pin that should be used for current monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 4 || !CubeOrange_PM2 || || 14 || Pixhawk2_PM2 || || 15 || !CubeOrange || || 17 || Durandal || || 101 || PX4-v1 || * !RebootRequired: True === Voltage Multiplier (BATT7_VOLT_MULT) === _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._ === Amps per volt (BATT7_AMP_PERVLT) === _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._ * Units: ampere per volt === AMP offset (BATT7_AMP_OFFSET) === _Voltage offset at zero current on current sensor_ * Units: volt === Battery capacity (BATT7_CAPACITY) === _Capacity of the battery in mAh when full_ * Increment: 50 * Units: milliampere hour === Battery serial number (BATT7_SERIAL_NUM) === _Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery`_`id._ === Low voltage timeout (BATT7_LOW_TIMER) === _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._ * Range: 0 120 * Increment: 1 * Units: seconds === Failsafe voltage source (BATT7_FS_VOLTSRC) === _Voltage type used for detection of low voltage event_ * Values || *Value* || *Meaning* || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage || === Low battery voltage (BATT7_LOW_VOLT) === _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: 0.1 * Units: volt === Low battery capacity (BATT7_LOW_MAH) === _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: 50 * Units: milliampere hour === Critical battery voltage (BATT7_CRT_VOLT) === _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: 0.1 * Units: volt === Battery critical capacity (BATT7_CRT_MAH) === _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: 50 * Units: milliampere hour === Low battery failsafe action (BATT7_FS_LOW_ACT) === _What action the vehicle should perform if it hits a low battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Critical battery failsafe action (BATT7_FS_CRT_ACT) === _What action the vehicle should perform if it hits a critical battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Required arming voltage (BATT7_ARM_VOLT) === _Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage._ * Increment: 0.1 * Units: volt === Required arming remaining capacity (BATT7_ARM_MAH) === _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: 50 * Units: milliampere hour === Battery monitor I2C bus number (BATT7_BUS) === _Battery monitor I2C bus number_ * Range: 0 3 === Battery monitor options (BATT7_OPTIONS) === _This sets options to change the behaviour of the battery monitor_ * Bitmask: 1:IgnoreUAVCAN SoC == BATT8_ Parameters == === Battery monitoring (BATT8_MONITOR) === _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 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC || || 10 || !SumOfFollowing || || 11 || !FuelFlow || || 12 || !FuelLevelPWM || || 13 || SMBUS-SUI3 || || 14 || SMBUS-SUI6 || || 15 || !NeoDesign || || 16 || SMBus-Maxell || || 17 || Generator-Elec || || 18 || Generator-Fuel || || 19 || Rotoye || * !RebootRequired: True === Battery Voltage sensing pin (BATT8_VOLT_PIN) === _Sets the analog input pin that should be used for voltage monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2/CubeOrange_PM2 || || 14 || !CubeOrange || || 16 || Durandal || || 100 || PX4-v1 || * !RebootRequired: True === Battery Current sensing pin (BATT8_CURR_PIN) === _Sets the analog input pin that should be used for current monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 4 || !CubeOrange_PM2 || || 14 || Pixhawk2_PM2 || || 15 || !CubeOrange || || 17 || Durandal || || 101 || PX4-v1 || * !RebootRequired: True === Voltage Multiplier (BATT8_VOLT_MULT) === _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._ === Amps per volt (BATT8_AMP_PERVLT) === _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._ * Units: ampere per volt === AMP offset (BATT8_AMP_OFFSET) === _Voltage offset at zero current on current sensor_ * Units: volt === Battery capacity (BATT8_CAPACITY) === _Capacity of the battery in mAh when full_ * Increment: 50 * Units: milliampere hour === Battery serial number (BATT8_SERIAL_NUM) === _Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery`_`id._ === Low voltage timeout (BATT8_LOW_TIMER) === _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._ * Range: 0 120 * Increment: 1 * Units: seconds === Failsafe voltage source (BATT8_FS_VOLTSRC) === _Voltage type used for detection of low voltage event_ * Values || *Value* || *Meaning* || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage || === Low battery voltage (BATT8_LOW_VOLT) === _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: 0.1 * Units: volt === Low battery capacity (BATT8_LOW_MAH) === _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: 50 * Units: milliampere hour === Critical battery voltage (BATT8_CRT_VOLT) === _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: 0.1 * Units: volt === Battery critical capacity (BATT8_CRT_MAH) === _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: 50 * Units: milliampere hour === Low battery failsafe action (BATT8_FS_LOW_ACT) === _What action the vehicle should perform if it hits a low battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Critical battery failsafe action (BATT8_FS_CRT_ACT) === _What action the vehicle should perform if it hits a critical battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Required arming voltage (BATT8_ARM_VOLT) === _Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage._ * Increment: 0.1 * Units: volt === Required arming remaining capacity (BATT8_ARM_MAH) === _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: 50 * Units: milliampere hour === Battery monitor I2C bus number (BATT8_BUS) === _Battery monitor I2C bus number_ * Range: 0 3 === Battery monitor options (BATT8_OPTIONS) === _This sets options to change the behaviour of the battery monitor_ * Bitmask: 1:IgnoreUAVCAN SoC == BATT9_ Parameters == === Battery monitoring (BATT9_MONITOR) === _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 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC || || 10 || !SumOfFollowing || || 11 || !FuelFlow || || 12 || !FuelLevelPWM || || 13 || SMBUS-SUI3 || || 14 || SMBUS-SUI6 || || 15 || !NeoDesign || || 16 || SMBus-Maxell || || 17 || Generator-Elec || || 18 || Generator-Fuel || || 19 || Rotoye || * !RebootRequired: True === Battery Voltage sensing pin (BATT9_VOLT_PIN) === _Sets the analog input pin that should be used for voltage monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2/CubeOrange_PM2 || || 14 || !CubeOrange || || 16 || Durandal || || 100 || PX4-v1 || * !RebootRequired: True === Battery Current sensing pin (BATT9_CURR_PIN) === _Sets the analog input pin that should be used for current monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 4 || !CubeOrange_PM2 || || 14 || Pixhawk2_PM2 || || 15 || !CubeOrange || || 17 || Durandal || || 101 || PX4-v1 || * !RebootRequired: True === Voltage Multiplier (BATT9_VOLT_MULT) === _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._ === Amps per volt (BATT9_AMP_PERVLT) === _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._ * Units: ampere per volt === AMP offset (BATT9_AMP_OFFSET) === _Voltage offset at zero current on current sensor_ * Units: volt === Battery capacity (BATT9_CAPACITY) === _Capacity of the battery in mAh when full_ * Increment: 50 * Units: milliampere hour === Battery serial number (BATT9_SERIAL_NUM) === _Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery`_`id._ === Low voltage timeout (BATT9_LOW_TIMER) === _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._ * Range: 0 120 * Increment: 1 * Units: seconds === Failsafe voltage source (BATT9_FS_VOLTSRC) === _Voltage type used for detection of low voltage event_ * Values || *Value* || *Meaning* || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage || === Low battery voltage (BATT9_LOW_VOLT) === _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: 0.1 * Units: volt === Low battery capacity (BATT9_LOW_MAH) === _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: 50 * Units: milliampere hour === Critical battery voltage (BATT9_CRT_VOLT) === _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: 0.1 * Units: volt === Battery critical capacity (BATT9_CRT_MAH) === _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: 50 * Units: milliampere hour === Low battery failsafe action (BATT9_FS_LOW_ACT) === _What action the vehicle should perform if it hits a low battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Critical battery failsafe action (BATT9_FS_CRT_ACT) === _What action the vehicle should perform if it hits a critical battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Required arming voltage (BATT9_ARM_VOLT) === _Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage._ * Increment: 0.1 * Units: volt === Required arming remaining capacity (BATT9_ARM_MAH) === _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: 50 * Units: milliampere hour === Battery monitor I2C bus number (BATT9_BUS) === _Battery monitor I2C bus number_ * Range: 0 3 === Battery monitor options (BATT9_OPTIONS) === _This sets options to change the behaviour of the battery monitor_ * Bitmask: 1:IgnoreUAVCAN SoC == BATT_ Parameters == === Battery monitoring (BATT_MONITOR) === _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 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC || || 10 || !SumOfFollowing || || 11 || !FuelFlow || || 12 || !FuelLevelPWM || || 13 || SMBUS-SUI3 || || 14 || SMBUS-SUI6 || || 15 || !NeoDesign || || 16 || SMBus-Maxell || || 17 || Generator-Elec || || 18 || Generator-Fuel || || 19 || Rotoye || * !RebootRequired: True === Battery Voltage sensing pin (BATT_VOLT_PIN) === _Sets the analog input pin that should be used for voltage monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2/CubeOrange_PM2 || || 14 || !CubeOrange || || 16 || Durandal || || 100 || PX4-v1 || * !RebootRequired: True === Battery Current sensing pin (BATT_CURR_PIN) === _Sets the analog input pin that should be used for current monitoring._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 4 || !CubeOrange_PM2 || || 14 || Pixhawk2_PM2 || || 15 || !CubeOrange || || 17 || Durandal || || 101 || PX4-v1 || * !RebootRequired: True === Voltage Multiplier (BATT_VOLT_MULT) === _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._ === Amps per volt (BATT_AMP_PERVLT) === _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._ * Units: ampere per volt === AMP offset (BATT_AMP_OFFSET) === _Voltage offset at zero current on current sensor_ * Units: volt === Battery capacity (BATT_CAPACITY) === _Capacity of the battery in mAh when full_ * Increment: 50 * Units: milliampere hour === Battery serial number (BATT_SERIAL_NUM) === _Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery`_`id._ === Low voltage timeout (BATT_LOW_TIMER) === _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._ * Range: 0 120 * Increment: 1 * Units: seconds === Failsafe voltage source (BATT_FS_VOLTSRC) === _Voltage type used for detection of low voltage event_ * Values || *Value* || *Meaning* || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage || === Low battery voltage (BATT_LOW_VOLT) === _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: 0.1 * Units: volt === Low battery capacity (BATT_LOW_MAH) === _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: 50 * Units: milliampere hour === Critical battery voltage (BATT_CRT_VOLT) === _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: 0.1 * Units: volt === Battery critical capacity (BATT_CRT_MAH) === _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: 50 * Units: milliampere hour === Low battery failsafe action (BATT_FS_LOW_ACT) === _What action the vehicle should perform if it hits a low battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Critical battery failsafe action (BATT_FS_CRT_ACT) === _What action the vehicle should perform if it hits a critical battery failsafe_ * Values || *Value* || *Meaning* || || 0 || None || || 2 || Disarm || || 3 || Enter surface mode || === Required arming voltage (BATT_ARM_VOLT) === _Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage._ * Increment: 0.1 * Units: volt === Required arming remaining capacity (BATT_ARM_MAH) === _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: 50 * Units: milliampere hour === Battery monitor I2C bus number (BATT_BUS) === _Battery monitor I2C bus number_ * Range: 0 3 === Battery monitor options (BATT_OPTIONS) === _This sets options to change the behaviour of the battery monitor_ * Bitmask: 1:IgnoreUAVCAN SoC == BRD_ Parameters == === Auxiliary pin config (BRD_PWM_COUNT) === _Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO_ * Values || *Value* || *Meaning* || || 0 || No PWMs || || 1 || One PWMs || || 2 || Two PWMs || || 3 || Three PWMs || || 4 || Four PWMs || || 5 || Five PWMs || || 6 || Six PWMs || || 7 || Seven PWMs || || 8 || Eight PWMs || * !RebootRequired: True === Serial 1 flow control (BRD_SER1_RTSCTS) === _Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || || 2 || Auto || * !RebootRequired: True === Serial 2 flow control (BRD_SER2_RTSCTS) === _Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. 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 || * !RebootRequired: True === Serial 3 flow control (BRD_SER3_RTSCTS) === _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 || * !RebootRequired: True === Serial 4 flow control (BRD_SER4_RTSCTS) === _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 || * !RebootRequired: True === Serial 5 flow control (BRD_SER5_RTSCTS) === _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 || * !RebootRequired: True === Enable use of safety arming switch (BRD_SAFETYENABLE) === _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 || * !RebootRequired: True === SBUS output rate (BRD_SBUS_OUT) === _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 || * !RebootRequired: True === User-defined serial number (BRD_SERIAL_NUM) === _User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot_ * Range: -32768 32767 === Outputs which ignore the safety switch state (BRD_SAFETY_MASK) === _A bitmask which controls what outputs can move while the safety switch has not been pressed_ * Bitmask: 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 * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || * !RebootRequired: True === Target IMU temperature (BRD_IMU_TARGTEMP) === _This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour _ * Range: -1 80 * Units: degrees Celsius === Board type (BRD_TYPE) === _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 || || 4 || Pixracer || || 5 || !PixhawkMini || || 6 || Pixhawk2Slim || || 13 || Intel Aero FC || || 14 || Pixhawk Pro || || 20 || AUAV2.1 || || 21 || PCNC1 || || 22 || MINDPXV2 || || 23 || SP01 || || 24 || CUAVv5/FMUV5 || || 30 || VRX BRAIN51 || || 32 || VRX BRAIN52 || || 33 || VRX BRAIN52E || || 34 || VRX UBRAIN51 || || 35 || VRX UBRAIN52 || || 36 || VRX CORE10 || || 38 || VRX BRAIN54 || || 39 || PX4 FMUV6 || || 100 || PX4 OLDDRIVERS || * !RebootRequired: True === Enable IO co-processor (BRD_IO_ENABLE) === _This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || * !RebootRequired: True === Options for safety button behavior (BRD_SAFETYOPTION) === _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: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms === Autopilot board voltage requirement (BRD_VBUS_MIN) === _Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check._ * Range: 4.0 5.5 * Increment: 0.1 * Units: volt === Servo voltage requirement (BRD_VSERVO_MIN) === _Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check._ * Range: 3.3 12.0 * Increment: 0.1 * Units: volt === microSD slowdown (BRD_SD_SLOWDOWN) === _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._ * Range: 0 32 * Increment: 1 === Set PWM Out Voltage (BRD_PWM_VOLT_SEL) === _This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output._ * Values || *Value* || *Meaning* || || 0 || 3.3V || || 1 || 5V || === Board options (BRD_OPTIONS) === _Board specific option flags_ * Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters === Boot delay (BRD_BOOT_DELAY) === _This adds a delay in milliseconds to boot to ensure peripherals initialise fully_ * Range: 0 10000 * Units: milliseconds === IMU Heater P gain (BRD_IMUHEAT_P) === _IMU Heater P gain_ * Range: 1 500 * Increment: 1 === IMU Heater I gain (BRD_IMUHEAT_I) === _IMU Heater integrator gain_ * Range: 0 1 * Increment: 0.1 === IMU Heater IMAX (BRD_IMUHEAT_IMAX) === _IMU Heater integrator maximum_ * Range: 0 100 * Increment: 1 === Alternative HW config (BRD_ALT_CONFIG) === _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._ * Range: 0 10 * Increment: 1 * !RebootRequired: True == BRD_RADIO Parameters == === Set type of direct attached radio (BRD_RADIO_TYPE) === _This enables support for direct attached radio receivers_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || CYRF6936 || || 2 || CC2500 || || 3 || BK2425 || === protocol (BRD_RADIO_PROT) === _Select air protocol_ * Values || *Value* || *Meaning* || || 0 || Auto || || 1 || DSM2 || || 2 || DSMX || === debug level (BRD_RADIO_DEBUG) === _radio debug level_ * Range: 0 4 === disable receive CRC (BRD_RADIO_DISCRC) === _disable receive CRC (for debug)_ * Values || *Value* || *Meaning* || || 0 || !NotDisabled || || 1 || Disabled || === RSSI signal strength (BRD_RADIO_SIGCH) === _Channel to show receive RSSI signal strength, or zero for disabled_ * Range: 0 16 === Packet rate channel (BRD_RADIO_PPSCH) === _Channel to show received packet-per-second rate, or zero for disabled_ * Range: 0 16 === Enable telemetry (BRD_RADIO_TELEM) === _If this is non-zero then telemetry packets will be sent over DSM_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Telemetry Transmit power (BRD_RADIO_TXPOW) === _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 8 === Put radio into FCC test mode (BRD_RADIO_FCCTST) === _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 || === Stick input mode (BRD_RADIO_STKMD) === _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 || === Set radio to factory test channel (BRD_RADIO_TESTCH) === _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 || === RSSI value channel for telemetry data on transmitter (BRD_RADIO_TSIGCH) === _Channel to show telemetry RSSI value as received by TX_ * Range: 0 16 === Telemetry PPS channel (BRD_RADIO_TPPSCH) === _Channel to show telemetry packets-per-second value, as received at TX_ * Range: 0 16 === Transmitter transmit power (BRD_RADIO_TXMAX) === _Set transmitter maximum transmit power (from 1 to 8)_ * Range: 1 8 === Transmitter buzzer adjustment (BRD_RADIO_BZOFS) === _Set transmitter buzzer note adjustment (adjust frequency up)_ * Range: 0 40 === Auto-bind time (BRD_RADIO_ABTIME) === _When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets._ * Range: 0 120 === Auto-bind level (BRD_RADIO_ABLVL) === _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 31 == BRD_RTC Parameters == === Allowed sources of RTC time (BRD_RTC_TYPES) === _Specifies which sources of UTC time will be accepted_ * Bitmask: 0:GPS,1:MAVLINK`_`SYSTEM`_`TIME,2:HW === Timezone offset from UTC (BRD_RTC_TZ_MIN) === _Adds offset in +- minutes from UTC to calculate local time_ * Range: -720 +840 == BTN0_ Parameters == === Function for button (BTN0_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN0_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN10_ Parameters == === Function for button (BTN10_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN10_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN11_ Parameters == === Function for button (BTN11_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN11_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN12_ Parameters == === Function for button (BTN12_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN12_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN13_ Parameters == === Function for button (BTN13_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN13_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN14_ Parameters == === Function for button (BTN14_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN14_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN15_ Parameters == === Function for button (BTN15_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN15_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN1_ Parameters == === Function for button (BTN1_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN1_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN2_ Parameters == === Function for button (BTN2_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN2_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN3_ Parameters == === Function for button (BTN3_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN3_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN4_ Parameters == === Function for button (BTN4_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN4_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN5_ Parameters == === Function for button (BTN5_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN5_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN6_ Parameters == === Function for button (BTN6_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN6_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN7_ Parameters == === Function for button (BTN7_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN7_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN8_ Parameters == === Function for button (BTN8_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN8_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == BTN9_ Parameters == === Function for button (BTN9_FUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || === Function for button when the shift mode is toggled on (BTN9_SFUNCTION) === _Set to 0 to disable or choose a function_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || shift || || 2 || arm_toggle || || 3 || arm || || 4 || disarm || || 5 || mode_manual || || 6 || mode_stabilize || || 7 || mode_depth_hold || || 8 || mode_poshold || || 9 || mode_auto || || 10 || mode_circle || || 11 || mode_guided || || 12 || mode_acro || || 21 || mount_center || || 22 || mount_tilt_up || || 23 || mount_tilt_down || || 24 || camera_trigger || || 25 || camera_source_toggle || || 26 || mount_pan_right || || 27 || mount_pan_left || || 31 || lights1_cycle || || 32 || lights1_brighter || || 33 || lights1_dimmer || || 34 || lights2_cycle || || 35 || lights2_brighter || || 36 || lights2_dimmer || || 41 || gain_toggle || || 42 || gain_inc || || 43 || gain_dec || || 44 || trim_roll_inc || || 45 || trim_roll_dec || || 46 || trim_pitch_inc || || 47 || trim_pitch_dec || || 48 || input_hold_set || || 49 || roll_pitch_toggle || || 51 || relay_1_on || || 52 || relay_1_off || || 53 || relay_1_toggle || || 54 || relay_2_on || || 55 || relay_2_off || || 56 || relay_2_toggle || || 57 || relay_3_on || || 58 || relay_3_off || || 59 || relay_3_toggle || || 61 || servo_1_inc || || 62 || servo_1_dec || || 63 || servo_1_min || || 64 || servo_1_max || || 65 || servo_1_center || || 66 || servo_2_inc || || 67 || servo_2_dec || || 68 || servo_2_min || || 69 || servo_2_max || || 70 || servo_2_center || || 71 || servo_3_inc || || 72 || servo_3_dec || || 73 || servo_3_min || || 74 || servo_3_max || || 75 || servo_3_center || || 76 || servo_1_min_momentary || || 77 || servo_1_max_momentary || || 78 || servo_1_min_toggle || || 79 || servo_1_max_toggle || || 80 || servo_2_min_momentary || || 81 || servo_2_max_momentary || || 82 || servo_2_min_toggle || || 83 || servo_2_max_toggle || || 84 || servo_3_min_momentary || || 85 || servo_3_max_momentary || || 86 || servo_3_min_toggle || || 87 || servo_3_max_toggle || || 91 || custom_1 || || 92 || custom_2 || || 93 || custom_3 || || 94 || custom_4 || || 95 || custom_5 || || 96 || custom_6 || || 101 || relay_4_on || || 102 || relay_4_off || || 103 || relay_4_toggle || || 104 || relay_1_momentary || || 105 || relay_2_momentary || || 106 || relay_3_momentary || || 107 || relay_4_momentary || == CAM_ Parameters == === Camera shutter (trigger) type (CAM_TRIGG_TYPE) === _how to trigger the camera to take a picture_ * Values || *Value* || *Meaning* || || 0 || Servo || || 1 || Relay || || 2 || !GoPro in Solo Gimbal || === Duration that shutter is held open (CAM_DURATION) === _How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)_ * Range: 0 50 * Units: deciseconds === Servo ON PWM value (CAM_SERVO_ON) === _PWM value in microseconds to move servo to when shutter is activated_ * Range: 1000 2000 * Units: PWM in microseconds === Servo OFF PWM value (CAM_SERVO_OFF) === _PWM value in microseconds to move servo to when shutter is deactivated_ * Range: 1000 2000 * Units: PWM in microseconds === Camera trigger distance (CAM_TRIGG_DIST) === _Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO`_`SET`_`CAM`_`TRIGG`_`DIST command, allowing you to enable`/`disable the triggering of the camera during the flight._ * Range: 0 1000 * Units: meters === Relay ON value (CAM_RELAY_ON) === _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 || === Minimum time between photos (CAM_MIN_INTERVAL) === _Postpone shooting if previous picture was taken less than preset time(ms) ago._ * Range: 0 10000 * Units: milliseconds === Maximum photo roll angle. (CAM_MAX_ROLL) === _Postpone shooting if roll is greater than limit. (0`=`Disable, will shoot regardless of roll)._ * Range: 0 180 * Units: degrees === Camera feedback pin (CAM_FEEDBACK_PIN) === _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. See also the CAM`_`FEEDBACK`_`POL option._ * Values || *Value* || *Meaning* || || -1 || Disabled || || 50 || AUX1 || || 51 || AUX2 || || 52 || AUX3 || || 53 || AUX4 || || 54 || AUX5 || || 55 || AUX6 || * !RebootRequired: True === Camera feedback pin polarity (CAM_FEEDBACK_POL) === _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 || === Distance-trigging in AUTO mode only (CAM_AUTO_ONLY) === _When enabled, trigging by distance is done in AUTO mode only._ * Values || *Value* || *Meaning* || || 0 || Always || || 1 || Only when in AUTO || === Type of camera (0: None, 1: BMMCC) (CAM_TYPE) === _Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that._ * Values || *Value* || *Meaning* || || 0 || Default || || 1 || BMMCC || == CAM_RC_ Parameters == === !RunCam device type (CAM_RC_TYPE) === _RunCam deviee 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 || === !RunCam features available (CAM_RC_FEATURES) === _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: 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording === !RunCam boot delay before allowing updates (CAM_RC_BT_DELAY) === _Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync._ === !RunCam button delay before allowing further button presses (CAM_RC_BTN_DELAY) === _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._ === !RunCam mode delay before allowing further button presses (CAM_RC_MDE_DELAY) === _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._ === !RunCam control option (CAM_RC_CONTROL) === _Specifies the allowed actions required to enter the OSD menu_ * Bitmask: 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled == CAN_ Parameters == === Loglevel (CAN_LOGLEVEL) === _Loglevel for recording initialisation and debug information from CAN Interface_ * Range: 0 4 * Values || *Value* || *Meaning* || || 0 || Log None || || 1 || Log Error || || 2 || Log Warning and below || || 3 || Log Info and below || || 4 || Log Everything || == CAN_D1_ Parameters == === Enable use of specific protocol over virtual driver (CAN_D1_PROTOCOL) === _Enabling this option starts selected protocol that will use this virtual driver_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || UAVCAN || || 2 || KDECAN || || 3 || !ToshibaCAN || || 4 || !PiccoloCAN || || 5 || CANTester || * !RebootRequired: True == CAN_D1_KDE_ Parameters == === Number of motor poles (CAN_D1_KDE_NPOLE) === _Sets the number of motor poles to calculate the correct RPM value_ == CAN_D1_PC_ Parameters == === ESC channels (CAN_D1_PC_ESC_BM) === _Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN_ * Bitmask: 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 === ESC output rate (CAN_D1_PC_ESC_RT) === _Output rate of ESC command messages_ * Range: 1 500 * Units: hertz == CAN_D1_TST_ Parameters == === CAN Test Index (CAN_D1_TST_ID) === _Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot._ * Range: 0 4 * Values || *Value* || *Meaning* || || 0 || TEST_NONE || || 1 || TEST_LOOPBACK || || 2 || TEST_BUSOFF_RECOVERY || || 3 || TEST_UAVCAN_DNA || || 4 || TEST_TOSHIBA_CAN || || 5 || TEST_KDE_CAN || || 6 || TEST_UAVCAN_ESC || === CANTester LoopRate (CAN_D1_TST_LPR8) === _Selects the Looprate of Test methods_ * Units: microseconds == CAN_D1_UC_ Parameters == === UAVCAN node that is used for this network (CAN_D1_UC_NODE) === _UAVCAN node should be set implicitly_ * Range: 1 250 === RC Out channels to be transmitted as servo over UAVCAN (CAN_D1_UC_SRV_BM) === _Bitmask with one set for channel to be transmitted as a servo command over UAVCAN_ * Bitmask: 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 === RC Out channels to be transmitted as ESC over UAVCAN (CAN_D1_UC_ESC_BM) === _Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN_ * Bitmask: 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 === Servo output rate (CAN_D1_UC_SRV_RT) === _Maximum transmit rate for servo outputs_ * Range: 1 200 * Units: hertz == CAN_D2_ Parameters == === Enable use of specific protocol over virtual driver (CAN_D2_PROTOCOL) === _Enabling this option starts selected protocol that will use this virtual driver_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || UAVCAN || || 2 || KDECAN || || 3 || !ToshibaCAN || || 4 || !PiccoloCAN || || 5 || CANTester || * !RebootRequired: True == CAN_D2_KDE_ Parameters == === Number of motor poles (CAN_D2_KDE_NPOLE) === _Sets the number of motor poles to calculate the correct RPM value_ == CAN_D2_PC_ Parameters == === ESC channels (CAN_D2_PC_ESC_BM) === _Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN_ * Bitmask: 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 === ESC output rate (CAN_D2_PC_ESC_RT) === _Output rate of ESC command messages_ * Range: 1 500 * Units: hertz == CAN_D2_TST_ Parameters == === CAN Test Index (CAN_D2_TST_ID) === _Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot._ * Range: 0 4 * Values || *Value* || *Meaning* || || 0 || TEST_NONE || || 1 || TEST_LOOPBACK || || 2 || TEST_BUSOFF_RECOVERY || || 3 || TEST_UAVCAN_DNA || || 4 || TEST_TOSHIBA_CAN || || 5 || TEST_KDE_CAN || || 6 || TEST_UAVCAN_ESC || === CANTester LoopRate (CAN_D2_TST_LPR8) === _Selects the Looprate of Test methods_ * Units: microseconds == CAN_D2_UC_ Parameters == === UAVCAN node that is used for this network (CAN_D2_UC_NODE) === _UAVCAN node should be set implicitly_ * Range: 1 250 === RC Out channels to be transmitted as servo over UAVCAN (CAN_D2_UC_SRV_BM) === _Bitmask with one set for channel to be transmitted as a servo command over UAVCAN_ * Bitmask: 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 === RC Out channels to be transmitted as ESC over UAVCAN (CAN_D2_UC_ESC_BM) === _Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN_ * Bitmask: 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 === Servo output rate (CAN_D2_UC_SRV_RT) === _Maximum transmit rate for servo outputs_ * Range: 1 200 * Units: hertz == CAN_D3_ Parameters == === Enable use of specific protocol over virtual driver (CAN_D3_PROTOCOL) === _Enabling this option starts selected protocol that will use this virtual driver_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || UAVCAN || || 2 || KDECAN || || 3 || !ToshibaCAN || || 4 || !PiccoloCAN || || 5 || CANTester || * !RebootRequired: True == CAN_D3_KDE_ Parameters == === Number of motor poles (CAN_D3_KDE_NPOLE) === _Sets the number of motor poles to calculate the correct RPM value_ == CAN_D3_PC_ Parameters == === ESC channels (CAN_D3_PC_ESC_BM) === _Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN_ * Bitmask: 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 === ESC output rate (CAN_D3_PC_ESC_RT) === _Output rate of ESC command messages_ * Range: 1 500 * Units: hertz == CAN_D3_TST_ Parameters == === CAN Test Index (CAN_D3_TST_ID) === _Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot._ * Range: 0 4 * Values || *Value* || *Meaning* || || 0 || TEST_NONE || || 1 || TEST_LOOPBACK || || 2 || TEST_BUSOFF_RECOVERY || || 3 || TEST_UAVCAN_DNA || || 4 || TEST_TOSHIBA_CAN || || 5 || TEST_KDE_CAN || || 6 || TEST_UAVCAN_ESC || === CANTester LoopRate (CAN_D3_TST_LPR8) === _Selects the Looprate of Test methods_ * Units: microseconds == CAN_D3_UC_ Parameters == === UAVCAN node that is used for this network (CAN_D3_UC_NODE) === _UAVCAN node should be set implicitly_ * Range: 1 250 === RC Out channels to be transmitted as servo over UAVCAN (CAN_D3_UC_SRV_BM) === _Bitmask with one set for channel to be transmitted as a servo command over UAVCAN_ * Bitmask: 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 === RC Out channels to be transmitted as ESC over UAVCAN (CAN_D3_UC_ESC_BM) === _Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN_ * Bitmask: 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 === Servo output rate (CAN_D3_UC_SRV_RT) === _Maximum transmit rate for servo outputs_ * Range: 1 200 * Units: hertz == CAN_P1_ Parameters == === Index of virtual driver to be used with physical CAN interface (CAN_P1_DRIVER) === _Enabling this option enables use of CAN buses._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || First driver || || 2 || Second driver || * !RebootRequired: True === Bitrate of CAN interface (CAN_P1_BITRATE) === _Bit rate can be set up to from 10000 to 1000000_ * Range: 10000 1000000 == CAN_P2_ Parameters == === Index of virtual driver to be used with physical CAN interface (CAN_P2_DRIVER) === _Enabling this option enables use of CAN buses._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || First driver || || 2 || Second driver || * !RebootRequired: True === Bitrate of CAN interface (CAN_P2_BITRATE) === _Bit rate can be set up to from 10000 to 1000000_ * Range: 10000 1000000 == CAN_P3_ Parameters == === Index of virtual driver to be used with physical CAN interface (CAN_P3_DRIVER) === _Enabling this option enables use of CAN buses._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || First driver || || 2 || Second driver || * !RebootRequired: True === Bitrate of CAN interface (CAN_P3_BITRATE) === _Bit rate can be set up to from 10000 to 1000000_ * Range: 10000 1000000 == CAN_SLCAN_ Parameters == === SLCAN Route (CAN_SLCAN_CPORT) === _CAN Interface ID to be routed to SLCAN, 0 means no routing_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || First interface || || 2 || Second interface || * !RebootRequired: True === SLCAN Serial Port (CAN_SLCAN_SERNUM) === _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 || === SLCAN Timeout (CAN_SLCAN_TIMOUT) === _Duration of inactivity after which SLCAN is switched back to original driver in seconds._ * Range: 0 127 === SLCAN Start Delay (CAN_SLCAN_SDELAY) === _Duration after which slcan starts after setting SERNUM in seconds._ * Range: 0 127 == CIRCLE_ Parameters == === Circle Radius (CIRCLE_RADIUS) === _Defines the radius of the circle the vehicle will fly when in Circle flight mode_ * Range: 0 200000 * Increment: 100 * Units: centimeters === Circle rate (CIRCLE_RATE) === _Circle mode's turn rate in deg`/`sec. Positive to turn clockwise, negative for counter clockwise_ * Range: -90 90 * Increment: 1 * Units: degrees per second === Circle options (CIRCLE_OPTIONS) === _0:Enable or disable using the pitch`/`roll stick control circle mode's radius and rate_ * Bitmask: 0:manual control, 1:face direction of travel, 2:Start at center rather than on perimeter == COMPASS_ Parameters == === Compass offsets in milligauss on the X axis (COMPASS_OFS_X) === _Offset to be added to the compass x-axis values to compensate for metal in the frame_ * Calibration: 1 * Range: -400 400 * Increment: 1 * Units: milligauss === Compass offsets in milligauss on the Y axis (COMPASS_OFS_Y) === _Offset to be added to the compass y-axis values to compensate for metal in the frame_ * Calibration: 1 * Range: -400 400 * Increment: 1 * Units: milligauss === Compass offsets in milligauss on the Z axis (COMPASS_OFS_Z) === _Offset to be added to the compass z-axis values to compensate for metal in the frame_ * Range: -400 400 * Increment: 1 * Units: milligauss === Compass declination (COMPASS_DEC) === _An angle to compensate between the true north and magnetic north_ * Range: -3.142 3.142 * Increment: 0.01 * Units: radians === Learn compass offsets automatically (COMPASS_LEARN) === _Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with 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 || || 1 || Internal-Learning || || 2 || EKF-Learning || || 3 || !InFlight-Learning || === Use compass for yaw (COMPASS_USE) === _Enable or disable the use of the compass (instead of the GPS) for determining heading_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Auto Declination (COMPASS_AUTODEC) === _Enable or disable the automatic calculation of the declination based on gps location_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Motor interference compensation type (COMPASS_MOTCT) === _Set motor interference compensation type to disabled, throttle or current. Do not change manually._ * Calibration: 1 * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Use Throttle || || 2 || Use Current || === Motor interference compensation for body frame X axis (COMPASS_MOT_X) === _Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)_ * Calibration: 1 * Range: -1000 1000 * Increment: 1 * Units: milligauss per ampere === Motor interference compensation for body frame Y axis (COMPASS_MOT_Y) === _Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)_ * Calibration: 1 * Range: -1000 1000 * Increment: 1 * Units: milligauss per ampere === Motor interference compensation for body frame Z axis (COMPASS_MOT_Z) === _Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)_ * Range: -1000 1000 * Increment: 1 * Units: milligauss per ampere === Compass orientation (COMPASS_ORIENT) === _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._ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Yaw45 || || 2 || Yaw90 || || 3 || Yaw135 || || 4 || Yaw180 || || 5 || Yaw225 || || 6 || Yaw270 || || 7 || Yaw315 || || 8 || Roll180 || || 9 || Roll180Yaw45 || || 10 || Roll180Yaw90 || || 11 || Roll180Yaw135 || || 12 || Pitch180 || || 13 || Roll180Yaw225 || || 14 || Roll180Yaw270 || || 15 || Roll180Yaw315 || || 16 || Roll90 || || 17 || Roll90Yaw45 || || 18 || Roll90Yaw90 || || 19 || Roll90Yaw135 || || 20 || Roll270 || || 21 || Roll270Yaw45 || || 22 || Roll270Yaw90 || || 23 || Roll270Yaw135 || || 24 || Pitch90 || || 25 || Pitch270 || || 26 || Pitch180Yaw90 || || 27 || Pitch180Yaw270 || || 28 || Roll90Pitch90 || || 29 || Roll180Pitch90 || || 30 || Roll270Pitch90 || || 31 || Roll90Pitch180 || || 32 || Roll270Pitch180 || || 33 || Roll90Pitch270 || || 34 || Roll180Pitch270 || || 35 || Roll270Pitch270 || || 36 || Roll90Pitch180Yaw90 || || 37 || Roll90Yaw270 || || 38 || Yaw293Pitch68Roll180 || || 39 || Pitch315 || || 40 || Roll90Pitch315 || || 100 || Custom || === Compass is attached via an external cable (COMPASS_EXTERNAL) === _Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. 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 || === Compass2 offsets in milligauss on the X axis (COMPASS_OFS2_X) === _Offset to be added to compass2's x-axis values to compensate for metal in the frame_ * Calibration: 1 * Range: -400 400 * Increment: 1 * Units: milligauss === Compass2 offsets in milligauss on the Y axis (COMPASS_OFS2_Y) === _Offset to be added to compass2's y-axis values to compensate for metal in the frame_ * Calibration: 1 * Range: -400 400 * Increment: 1 * Units: milligauss === Compass2 offsets in milligauss on the Z axis (COMPASS_OFS2_Z) === _Offset to be added to compass2's z-axis values to compensate for metal in the frame_ * Range: -400 400 * Increment: 1 * Units: milligauss === Motor interference compensation to compass2 for body frame X axis (COMPASS_MOT2_X) === _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: 1 * Range: -1000 1000 * Increment: 1 * Units: milligauss per ampere === Motor interference compensation to compass2 for body frame Y axis (COMPASS_MOT2_Y) === _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: 1 * Range: -1000 1000 * Increment: 1 * Units: milligauss per ampere === Motor interference compensation to compass2 for body frame Z axis (COMPASS_MOT2_Z) === _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)_ * Range: -1000 1000 * Increment: 1 * Units: milligauss per ampere === Compass3 offsets in milligauss on the X axis (COMPASS_OFS3_X) === _Offset to be added to compass3's x-axis values to compensate for metal in the frame_ * Calibration: 1 * Range: -400 400 * Increment: 1 * Units: milligauss === Compass3 offsets in milligauss on the Y axis (COMPASS_OFS3_Y) === _Offset to be added to compass3's y-axis values to compensate for metal in the frame_ * Calibration: 1 * Range: -400 400 * Increment: 1 * Units: milligauss === Compass3 offsets in milligauss on the Z axis (COMPASS_OFS3_Z) === _Offset to be added to compass3's z-axis values to compensate for metal in the frame_ * Range: -400 400 * Increment: 1 * Units: milligauss === Motor interference compensation to compass3 for body frame X axis (COMPASS_MOT3_X) === _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: 1 * Range: -1000 1000 * Increment: 1 * Units: milligauss per ampere === Motor interference compensation to compass3 for body frame Y axis (COMPASS_MOT3_Y) === _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: 1 * Range: -1000 1000 * Increment: 1 * Units: milligauss per ampere === Motor interference compensation to compass3 for body frame Z axis (COMPASS_MOT3_Z) === _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)_ * Range: -1000 1000 * Increment: 1 * Units: milligauss per ampere === Compass device id (COMPASS_DEV_ID) === _Compass device id. Automatically detected, do not set manually_ * !ReadOnly: True === Compass2 device id (COMPASS_DEV_ID2) === _Second compass's device id. Automatically detected, do not set manually_ * !ReadOnly: True === Compass3 device id (COMPASS_DEV_ID3) === _Third compass's device id. Automatically detected, do not set manually_ * !ReadOnly: True === Compass2 used for yaw (COMPASS_USE2) === _Enable or disable the secondary compass for determining heading._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Compass2 orientation (COMPASS_ORIENT2) === _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._ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Yaw45 || || 2 || Yaw90 || || 3 || Yaw135 || || 4 || Yaw180 || || 5 || Yaw225 || || 6 || Yaw270 || || 7 || Yaw315 || || 8 || Roll180 || || 9 || Roll180Yaw45 || || 10 || Roll180Yaw90 || || 11 || Roll180Yaw135 || || 12 || Pitch180 || || 13 || Roll180Yaw225 || || 14 || Roll180Yaw270 || || 15 || Roll180Yaw315 || || 16 || Roll90 || || 17 || Roll90Yaw45 || || 18 || Roll90Yaw90 || || 19 || Roll90Yaw135 || || 20 || Roll270 || || 21 || Roll270Yaw45 || || 22 || Roll270Yaw90 || || 23 || Roll270Yaw135 || || 24 || Pitch90 || || 25 || Pitch270 || || 26 || Pitch180Yaw90 || || 27 || Pitch180Yaw270 || || 28 || Roll90Pitch90 || || 29 || Roll180Pitch90 || || 30 || Roll270Pitch90 || || 31 || Roll90Pitch180 || || 32 || Roll270Pitch180 || || 33 || Roll90Pitch270 || || 34 || Roll180Pitch270 || || 35 || Roll270Pitch270 || || 36 || Roll90Pitch180Yaw90 || || 37 || Roll90Yaw270 || || 38 || Yaw293Pitch68Roll180 || || 39 || Pitch315 || || 40 || Roll90Pitch315 || || 100 || Custom || === Compass2 is attached via an external cable (COMPASS_EXTERN2) === _Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. 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 || === Compass3 used for yaw (COMPASS_USE3) === _Enable or disable the tertiary compass for determining heading._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Compass3 orientation (COMPASS_ORIENT3) === _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._ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Yaw45 || || 2 || Yaw90 || || 3 || Yaw135 || || 4 || Yaw180 || || 5 || Yaw225 || || 6 || Yaw270 || || 7 || Yaw315 || || 8 || Roll180 || || 9 || Roll180Yaw45 || || 10 || Roll180Yaw90 || || 11 || Roll180Yaw135 || || 12 || Pitch180 || || 13 || Roll180Yaw225 || || 14 || Roll180Yaw270 || || 15 || Roll180Yaw315 || || 16 || Roll90 || || 17 || Roll90Yaw45 || || 18 || Roll90Yaw90 || || 19 || Roll90Yaw135 || || 20 || Roll270 || || 21 || Roll270Yaw45 || || 22 || Roll270Yaw90 || || 23 || Roll270Yaw135 || || 24 || Pitch90 || || 25 || Pitch270 || || 26 || Pitch180Yaw90 || || 27 || Pitch180Yaw270 || || 28 || Roll90Pitch90 || || 29 || Roll180Pitch90 || || 30 || Roll270Pitch90 || || 31 || Roll90Pitch180 || || 32 || Roll270Pitch180 || || 33 || Roll90Pitch270 || || 34 || Roll180Pitch270 || || 35 || Roll270Pitch270 || || 36 || Roll90Pitch180Yaw90 || || 37 || Roll90Yaw270 || || 38 || Yaw293Pitch68Roll180 || || 39 || Pitch315 || || 40 || Roll90Pitch315 || || 100 || Custom || === Compass3 is attached via an external cable (COMPASS_EXTERN3) === _Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. 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 soft-iron diagonal X component (COMPASS_DIA_X) === _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 soft-iron diagonal Y component (COMPASS_DIA_Y) === _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 soft-iron diagonal Z component (COMPASS_DIA_Z) === _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`]``]`_ === Compass soft-iron off-diagonal X component (COMPASS_ODI_X) === _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 soft-iron off-diagonal Y component (COMPASS_ODI_Y) === _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 soft-iron off-diagonal Z component (COMPASS_ODI_Z) === _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`]``]`_ === Compass2 soft-iron diagonal X component (COMPASS_DIA2_X) === _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 === Compass2 soft-iron diagonal Y component (COMPASS_DIA2_Y) === _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 === Compass2 soft-iron diagonal Z component (COMPASS_DIA2_Z) === _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`]``]`_ === Compass2 soft-iron off-diagonal X component (COMPASS_ODI2_X) === _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 === Compass2 soft-iron off-diagonal Y component (COMPASS_ODI2_Y) === _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 === Compass2 soft-iron off-diagonal Z component (COMPASS_ODI2_Z) === _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`]``]`_ === Compass3 soft-iron diagonal X component (COMPASS_DIA3_X) === _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 === Compass3 soft-iron diagonal Y component (COMPASS_DIA3_Y) === _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 === Compass3 soft-iron diagonal Z component (COMPASS_DIA3_Z) === _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`]``]`_ === Compass3 soft-iron off-diagonal X component (COMPASS_ODI3_X) === _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 === Compass3 soft-iron off-diagonal Y component (COMPASS_ODI3_Y) === _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 === Compass3 soft-iron off-diagonal Z component (COMPASS_ODI3_Z) === _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`]``]`_ === Compass calibration fitness (COMPASS_CAL_FIT) === _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._ * Range: 4 32 * Values || *Value* || *Meaning* || || 4 || Very Strict || || 8 || Strict || || 16 || Default || || 32 || Relaxed || * Increment: 0.1 === Compass maximum offset (COMPASS_OFFS_MAX) === _This sets the maximum allowed compass offset in calibration and arming checks_ * Range: 500 3000 * Increment: 1 === Compass disable driver type mask (COMPASS_TYPEMASK) === _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: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS === Range in which sample is accepted (COMPASS_FLTR_RNG) === _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._ * Range: 0 100 * Increment: 1 * Units: percent === Automatically check orientation (COMPASS_AUTO_ROT) === _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 || === Compass device id with 1st order priority (COMPASS_PRIO1_ID) === _Compass device id with 1st order priority, set automatically if 0. Reboot required after change._ * !RebootRequired: True === Compass device id with 2nd order priority (COMPASS_PRIO2_ID) === _Compass device id with 2nd order priority, set automatically if 0. Reboot required after change._ * !RebootRequired: True === Compass device id with 3rd order priority (COMPASS_PRIO3_ID) === _Compass device id with 3rd order priority, set automatically if 0. Reboot required after change._ * !RebootRequired: True === Enable Compass (COMPASS_ENABLE) === _Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS`_`USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS`_`USE to 1._ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Compass1 scale factor (COMPASS_SCALE) === _Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done_ * Range: 0 1.3 === Compass2 scale factor (COMPASS_SCALE2) === _Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done_ * Range: 0 1.3 === Compass3 scale factor (COMPASS_SCALE3) === _Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done_ * Range: 0 1.3 === Compass options (COMPASS_OPTIONS) === _This sets options to change the behaviour of the compass_ * Bitmask: 0:CalRequireGPS === Compass4 device id (COMPASS_DEV_ID4) === _Extra 4th compass's device id. Automatically detected, do not set manually_ * !ReadOnly: True === Compass5 device id (COMPASS_DEV_ID5) === _Extra 5th compass's device id. Automatically detected, do not set manually_ * !ReadOnly: True === Compass6 device id (COMPASS_DEV_ID6) === _Extra 6th compass's device id. Automatically detected, do not set manually_ * !ReadOnly: True === Compass7 device id (COMPASS_DEV_ID7) === _Extra 7th compass's device id. Automatically detected, do not set manually_ * !ReadOnly: True === Compass8 device id (COMPASS_DEV_ID8) === _Extra 8th compass's device id. Automatically detected, do not set manually_ * !ReadOnly: True === Custom orientation roll offset (COMPASS_CUS_ROLL) === _Compass mounting position roll offset. Positive values `=` roll right, negative values `=` roll left. This parameter is only used when COMPASS`_`ORIENT`/`2`/`3 is set to CUSTOM._ * Range: -180 180 * Increment: 1 * Units: degrees * !RebootRequired: True === Custom orientation pitch offset (COMPASS_CUS_PIT) === _Compass mounting position pitch offset. Positive values `=` pitch up, negative values `=` pitch down. This parameter is only used when COMPASS`_`ORIENT`/`2`/`3 is set to CUSTOM._ * Range: -180 180 * Increment: 1 * Units: degrees * !RebootRequired: True === Custom orientation yaw offset (COMPASS_CUS_YAW) === _Compass mounting position yaw offset. Positive values `=` yaw right, negative values `=` yaw left. This parameter is only used when COMPASS`_`ORIENT`/`2`/`3 is set to CUSTOM._ * Range: -180 180 * Increment: 1 * Units: degrees * !RebootRequired: True == COMPASS_PMOT Parameters == === per-motor compass correction enable (COMPASS_PMOT_EN) === _This enables per-motor compass corrections_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === per-motor exponential correction (COMPASS_PMOT_EXP) === _This is the exponential correction for the power output of the motor for per-motor compass correction_ * Range: 0 2 * Increment: 0.01 === Compass per-motor1 X (COMPASS_PMOT1_X) === _Compensation for X axis of motor1_ === Compass per-motor1 Y (COMPASS_PMOT1_Y) === _Compensation for Y axis of motor1_ === Compass per-motor1 Z (COMPASS_PMOT1_Z) === _Compensation for Z axis of motor1_ === Compass per-motor2 X (COMPASS_PMOT2_X) === _Compensation for X axis of motor2_ === Compass per-motor2 Y (COMPASS_PMOT2_Y) === _Compensation for Y axis of motor2_ === Compass per-motor2 Z (COMPASS_PMOT2_Z) === _Compensation for Z axis of motor2_ === Compass per-motor3 X (COMPASS_PMOT3_X) === _Compensation for X axis of motor3_ === Compass per-motor3 Y (COMPASS_PMOT3_Y) === _Compensation for Y axis of motor3_ === Compass per-motor3 Z (COMPASS_PMOT3_Z) === _Compensation for Z axis of motor3_ === Compass per-motor4 X (COMPASS_PMOT4_X) === _Compensation for X axis of motor4_ === Compass per-motor4 Y (COMPASS_PMOT4_Y) === _Compensation for Y axis of motor4_ === Compass per-motor4 Z (COMPASS_PMOT4_Z) === _Compensation for Z axis of motor4_ == EAHRS Parameters == === AHRS type (EAHRS_TYPE) === _Type of AHRS device_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || !VectorNav || == EK2_ Parameters == === Enable EKF2 (EK2_ENABLE) === _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 || * !RebootRequired: True === GPS mode control (EK2_GPS_TYPE) === _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 || === GPS horizontal velocity measurement noise (m/s) (EK2_VELNE_M_NSE) === _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._ * Range: 0.05 5.0 * Increment: 0.05 * Units: meters per second === GPS vertical velocity measurement noise (m/s) (EK2_VELD_M_NSE) === _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._ * Range: 0.05 5.0 * Increment: 0.05 * Units: meters per second === GPS velocity innovation gate size (EK2_VEL_I_GATE) === _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 willbe rejected. Increasing it makes it more likely that bad measurements will be accepted._ * Range: 100 1000 * Increment: 25 === GPS horizontal position measurement noise (m) (EK2_POSNE_M_NSE) === _This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements._ * Range: 0.1 10.0 * Increment: 0.1 * Units: meters === GPS position measurement gate size (EK2_POS_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === GPS glitch radius gate size (m) (EK2_GLITCH_RAD) === _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._ * Range: 10 100 * Increment: 5 * Units: meters === Primary altitude sensor source (EK2_ALT_SOURCE) === _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 || * !RebootRequired: True === Altitude measurement noise (m) (EK2_ALT_M_NSE) === _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._ * Range: 0.1 10.0 * Increment: 0.1 * Units: meters === Height measurement gate size (EK2_HGT_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Height measurement delay (msec) (EK2_HGT_DELAY) === _This is the number of msec that the Height measurements lag behind the inertial measurements._ * Range: 0 250 * Increment: 10 * Units: milliseconds * !RebootRequired: True === Magnetometer measurement noise (Gauss) (EK2_MAG_M_NSE) === _This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements._ * Range: 0.01 0.5 * Increment: 0.01 * Units: gauss === Magnetometer default fusion mode (EK2_MAG_CAL) === _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 || === Magnetometer measurement gate size (EK2_MAG_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Equivalent airspeed measurement noise (m/s) (EK2_EAS_M_NSE) === _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._ * Range: 0.5 5.0 * Increment: 0.1 * Units: meters per second === Airspeed measurement gate size (EK2_EAS_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Range finder measurement noise (m) (EK2_RNG_M_NSE) === _This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement._ * Range: 0.1 10.0 * Increment: 0.1 * Units: meters === Range finder measurement gate size (EK2_RNG_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Maximum valid optical flow rate (EK2_MAX_FLOW) === _This sets the magnitude maximum optical flow rate in rad`/`sec that will be accepted by the filter_ * Range: 1.0 4.0 * Increment: 0.1 * Units: radians per second === Optical flow measurement noise (rad/s) (EK2_FLOW_M_NSE) === _This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements._ * Range: 0.05 1.0 * Increment: 0.05 * Units: radians per second === Optical Flow measurement gate size (EK2_FLOW_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Optical Flow measurement delay (msec) (EK2_FLOW_DELAY) === _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._ * Range: 0 127 * Increment: 10 * Units: milliseconds * !RebootRequired: True === Rate gyro noise (rad/s) (EK2_GYRO_P_NSE) === _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._ * Range: 0.0001 0.1 * Increment: 0.0001 * Units: radians per second === Accelerometer noise (m/s^2) (EK2_ACC_P_NSE) === _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._ * Range: 0.01 1.0 * Increment: 0.01 * Units: meters per square second === Rate gyro bias stability (rad/s/s) (EK2_GBIAS_P_NSE) === _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: 0.00001 0.001 * Units: radians per square second === Rate gyro scale factor stability (1/s) (EK2_GSCL_P_NSE) === _This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier._ * Range: 0.000001 0.001 * Units: hertz === Accelerometer bias stability (m/s^3) (EK2_ABIAS_P_NSE) === _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: 0.00001 0.005 * Units: meters per cubic second === Wind velocity process noise (m/s^2) (EK2_WIND_P_NSE) === _This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier._ * Range: 0.01 1.0 * Increment: 0.1 * Units: meters per square second === Height rate to wind process noise scaler (EK2_WIND_PSCALE) === _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._ * Range: 0.0 1.0 * Increment: 0.1 === GPS preflight check (EK2_GPS_CHECK) === _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: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed === Bitmask of active IMUs (EK2_IMU_MASK) === _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: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU * !RebootRequired: True === GPS accuracy check scaler (%) (EK2_CHECK_SCALE) === _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: 50 200 * Units: percent === Non-GPS operation position uncertainty (m) (EK2_NOAID_M_NSE) === _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: 0.5 50.0 * Units: meters === Yaw measurement noise (rad) (EK2_YAW_M_NSE) === _This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements._ * Range: 0.05 1.0 * Increment: 0.05 * Units: radians === Yaw measurement gate size (EK2_YAW_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Output complementary filter time constant (centi-sec) (EK2_TAU_OUTPUT) === _Sets the time constant of the output complementary filter`/`predictor in centi-seconds._ * Range: 10 50 * Increment: 5 * Units: centiseconds === Earth magnetic field process noise (gauss/s) (EK2_MAGE_P_NSE) === _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: 0.00001 0.01 * Units: gauss per second === Body magnetic field process noise (gauss/s) (EK2_MAGB_P_NSE) === _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: 0.00001 0.01 * Units: gauss per second === Range finder switch height percentage (EK2_RNG_USE_HGT) === _Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND`_`MAX`_`CM). 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._ * Range: -1 70 * Increment: 1 * Units: percent === Maximum terrain gradient (EK2_TERR_GRAD) === _Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height._ * Range: 0 0.2 * Increment: 0.01 === Range beacon measurement noise (m) (EK2_BCN_M_NSE) === _This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement._ * Range: 0.1 10.0 * Increment: 0.1 * Units: meters === Range beacon measurement gate size (EK2_BCN_I_GTE) === _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._ * Range: 100 1000 * Increment: 25 === Range beacon measurement delay (msec) (EK2_BCN_DELAY) === _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._ * Range: 0 127 * Increment: 10 * Units: milliseconds * !RebootRequired: True === Range finder max ground speed (EK2_RNG_USE_SPD) === _The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value._ * Range: 2.0 6.0 * Increment: 0.5 * Units: meters per second === Bitmask of active EKF cores that will always use heading fusion (EK2_MAG_MASK) === _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: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF * !RebootRequired: True === Bitmask control of EKF reference height correction (EK2_OGN_HGT_MASK) === _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: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position * !RebootRequired: True === Optical flow use bitmask (EK2_FLOW_USE) === _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 || * !RebootRequired: True === !EarthField error limit (EK2_MAG_EF_LIM) === _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: 0 500 * Units: milligauss === Height rate filter crossover frequency (EK2_HRT_FILT) === _Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative._ * Range: 0.1 30.0 * Units: hertz * !RebootRequired: False === Bitmask of which EKF-GSF yaw estimators run (EK2_GSF_RUN_MASK) === _1 byte bitmap 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, EK2`_`GSF`_`DELAY and EK2`_`GSF`_`MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2`_`GSF`_`USE to 0. _ * Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF * !RebootRequired: True === Bitmask of which EKF-GSF yaw estimators are used (EK2_GSF_USE_MASK) === _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 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. Additionally the EKF2 will initiate a reset internally if navigation is lost for more than EK2`_`GSF`_`DELAY milli seconds._ * Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF * !RebootRequired: True === Delay from loss of navigation to yaw reset (EK2_GSF_DELAY) === _If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK2`_`GSF`_`DELAY milli-seconds, then the EKF2 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK2`_`GSF`_`USE parameter._ * Range: 500 5000 * Increment: 100 * Units: milliseconds * !RebootRequired: True === Maximum number of resets to the EKF-GSF yaw estimate allowed (EK2_GSF_RST_MAX) === _Sets the maximum number of times the EKF2 will be allowed to reset it's 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 parameter._ * Range: 1 10 * Increment: 1 * !RebootRequired: True == EK3_ Parameters == === Enable EKF3 (EK3_ENABLE) === _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 || * !RebootRequired: True === GPS horizontal velocity measurement noise (m/s) (EK3_VELNE_M_NSE) === _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._ * Range: 0.05 5.0 * Increment: 0.05 * Units: meters per second === GPS vertical velocity measurement noise (m/s) (EK3_VELD_M_NSE) === _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._ * Range: 0.05 5.0 * Increment: 0.05 * Units: meters per second === GPS velocity innovation gate size (EK3_VEL_I_GATE) === _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 willbe rejected. Increasing it makes it more likely that bad measurements will be accepted._ * Range: 100 1000 * Increment: 25 === GPS horizontal position measurement noise (m) (EK3_POSNE_M_NSE) === _This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements._ * Range: 0.1 10.0 * Increment: 0.1 * Units: meters === GPS position measurement gate size (EK3_POS_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === GPS glitch radius gate size (m) (EK3_GLITCH_RAD) === _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._ * Range: 10 100 * Increment: 5 * Units: meters === Altitude measurement noise (m) (EK3_ALT_M_NSE) === _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._ * Range: 0.1 10.0 * Increment: 0.1 * Units: meters === Height measurement gate size (EK3_HGT_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Height measurement delay (msec) (EK3_HGT_DELAY) === _This is the number of msec that the Height measurements lag behind the inertial measurements._ * Range: 0 250 * Increment: 10 * Units: milliseconds * !RebootRequired: True === Magnetometer measurement noise (Gauss) (EK3_MAG_M_NSE) === _This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements._ * Range: 0.01 0.5 * Increment: 0.01 * Units: gauss === Magnetometer default fusion mode (EK3_MAG_CAL) === _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 `=` 5 uses an external yaw sensor with simple heading fusion. 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. EK3`_`MAG`_`CAL `=` 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. 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) || * !RebootRequired: True === Magnetometer measurement gate size (EK3_MAG_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Equivalent airspeed measurement noise (m/s) (EK3_EAS_M_NSE) === _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._ * Range: 0.5 5.0 * Increment: 0.1 * Units: meters per second === Airspeed measurement gate size (EK3_EAS_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Range finder measurement noise (m) (EK3_RNG_M_NSE) === _This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement._ * Range: 0.1 10.0 * Increment: 0.1 * Units: meters === Range finder measurement gate size (EK3_RNG_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Maximum valid optical flow rate (EK3_MAX_FLOW) === _This sets the magnitude maximum optical flow rate in rad`/`sec that will be accepted by the filter_ * Range: 1.0 4.0 * Increment: 0.1 * Units: radians per second === Optical flow measurement noise (rad/s) (EK3_FLOW_M_NSE) === _This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements._ * Range: 0.05 1.0 * Increment: 0.05 * Units: radians per second === Optical Flow measurement gate size (EK3_FLOW_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Optical Flow measurement delay (msec) (EK3_FLOW_DELAY) === _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._ * Range: 0 250 * Increment: 10 * Units: milliseconds * !RebootRequired: True === Rate gyro noise (rad/s) (EK3_GYRO_P_NSE) === _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._ * Range: 0.0001 0.1 * Increment: 0.0001 * Units: radians per second === Accelerometer noise (m/s^2) (EK3_ACC_P_NSE) === _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._ * Range: 0.01 1.0 * Increment: 0.01 * Units: meters per square second === Rate gyro bias stability (rad/s/s) (EK3_GBIAS_P_NSE) === _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: 0.00001 0.001 * Units: radians per square second === Accelerometer bias stability (m/s^3) (EK3_ABIAS_P_NSE) === _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: 0.00001 0.005 * Units: meters per cubic second === Wind velocity process noise (m/s^2) (EK3_WIND_P_NSE) === _This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier._ * Range: 0.01 1.0 * Increment: 0.1 * Units: meters per square second === Height rate to wind process noise scaler (EK3_WIND_PSCALE) === _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._ * Range: 0.0 1.0 * Increment: 0.1 === GPS preflight check (EK3_GPS_CHECK) === _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: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed === Bitmask of active IMUs (EK3_IMU_MASK) === _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: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU * !RebootRequired: True === GPS accuracy check scaler (%) (EK3_CHECK_SCALE) === _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: 50 200 * Units: percent === Non-GPS operation position uncertainty (m) (EK3_NOAID_M_NSE) === _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: 0.5 50.0 * Units: meters === Bitmask controlling sidelip angle fusion (EK3_BETA_MASK) === _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: 0:Always,1:WhenNoYawSensor * !RebootRequired: True === Yaw measurement noise (rad) (EK3_YAW_M_NSE) === _This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements._ * Range: 0.05 1.0 * Increment: 0.05 * Units: radians === Yaw measurement gate size (EK3_YAW_I_GATE) === _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._ * Range: 100 1000 * Increment: 25 === Output complementary filter time constant (centi-sec) (EK3_TAU_OUTPUT) === _Sets the time constant of the output complementary filter`/`predictor in centi-seconds._ * Range: 10 50 * Increment: 5 * Units: centiseconds === Earth magnetic field process noise (gauss/s) (EK3_MAGE_P_NSE) === _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: 0.00001 0.01 * Units: gauss per second === Body magnetic field process noise (gauss/s) (EK3_MAGB_P_NSE) === _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: 0.00001 0.01 * Units: gauss per second === Range finder switch height percentage (EK3_RNG_USE_HGT) === _Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND`_`MAX`_`CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK3`_`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._ * Range: -1 70 * Increment: 1 * Units: percent === Maximum terrain gradient (EK3_TERR_GRAD) === _Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference_ * Range: 0 0.2 * Increment: 0.01 === Range beacon measurement noise (m) (EK3_BCN_M_NSE) === _This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement._ * Range: 0.1 10.0 * Increment: 0.1 * Units: meters === Range beacon measurement gate size (EK3_BCN_I_GTE) === _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._ * Range: 100 1000 * Increment: 25 === Range beacon measurement delay (msec) (EK3_BCN_DELAY) === _This is the number of msec that the range beacon measurements lag behind the inertial measurements._ * Range: 0 250 * Increment: 10 * Units: milliseconds * !RebootRequired: True === Range finder max ground speed (EK3_RNG_USE_SPD) === _The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value._ * Range: 2.0 6.0 * Increment: 0.5 * Units: meters per second === Accelerometer bias limit (EK3_ACC_BIAS_LIM) === _The accelerometer bias state will be limited to +- this value_ * Range: 0.5 2.5 * Increment: 0.1 * Units: meters per square second === Bitmask of active EKF cores that will always use heading fusion (EK3_MAG_MASK) === _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: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF * !RebootRequired: True === Bitmask control of EKF reference height correction (EK3_OGN_HGT_MASK) === _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: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position * !RebootRequired: True === Visual odometry minimum velocity error (EK3_VIS_VERR_MIN) === _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._ * Range: 0.05 0.5 * Increment: 0.05 * Units: meters per second === Visual odometry maximum velocity error (EK3_VIS_VERR_MAX) === _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._ * Range: 0.5 5.0 * Increment: 0.1 * Units: meters per second === Wheel odometry velocity error (EK3_WENC_VERR) === _This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused._ * Range: 0.01 1.0 * Increment: 0.1 * Units: meters per second === Optical flow use bitmask (EK3_FLOW_USE) === _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 || * !RebootRequired: True === Height rate filter crossover frequency (EK3_HRT_FILT) === _Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative._ * Range: 0.1 30.0 * Units: hertz * !RebootRequired: False === !EarthField error limit (EK3_MAG_EF_LIM) === _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: 0 500 * Units: milligauss === Bitmask of which EKF-GSF yaw estimators run (EK3_GSF_RUN_MASK) === _1 byte bitmap of which EKF3 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 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, EK3`_`GSF`_`DELAY and EK3`_`GSF`_`MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3`_`GSF`_`USE to 0. _ * Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF * !RebootRequired: True === Bitmask of which EKF-GSF yaw estimators are used (EK3_GSF_USE_MASK) === _1 byte bitmap of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3`_`GSF`_`RUN 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. Additionally the EKF3 will initiate a reset internally if navigation is lost for more than EK3`_`GSF`_`DELAY milli seconds._ * Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF * !RebootRequired: True === Delay from loss of navigation to yaw reset (EK3_GSF_DELAY) === _If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK3`_`GSF`_`DELAY milli-seconds, then the EKF3 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK3`_`GSF`_`USE parameter._ * Range: 500 5000 * Increment: 100 * Units: milliseconds * !RebootRequired: True === Maximum number of resets to the EKF-GSF yaw estimate allowed (EK3_GSF_RST_MAX) === _Sets the maximum number of times the EKF3 will be allowed to reset it's 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 parameter._ * Range: 1 10 * Increment: 1 * !RebootRequired: True === EKF3 Lane Relative Error Sensitivity Threshold (EK3_ERR_THRESH) === _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_ * Range: 0.05 1 * Increment: 0.05 === EKF3 Sensor Affinity Options (EK3_AFFINITY) === _These options control the affinity between sensor instances and EKF cores_ * Bitmask: 0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity * !RebootRequired: True === Ballistic coefficient for X axis drag (EK3_DRAG_BCOEF_X) === _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 postive 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`_`MCOEF parameter._ * Range: 0.0 1000.0 * Units: kilograms per square meter === Ballistic coefficient for Y axis drag (EK3_DRAG_BCOEF_Y) === _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 postive 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`_`MCOEF parameter._ * Range: 50.0 1000.0 * Units: kilograms per square meter === Observation noise for drag acceleration (EK3_DRAG_M_NSE) === _This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters_ * Range: 0.1 2.0 * Increment: 0.1 * Units: meters per square second === Momentum coefficient for propeller drag (EK3_DRAG_MCOEF) === _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`_`MCOEF would be set to 0.1 `=` (1.5`/`15.0). Set EK3`_`MCOEF to a postive 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`_`BCOEF`_`X and EK3`_`BCOEF`_`Y parameters._ * Range: 0.0 1.0 * Increment: 0.01 * Units: per second === On ground not moving test scale factor (EK3_OGNM_TEST_SF) === _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._ * Range: 1.0 10.0 * Increment: 0.5 == EK3_SRC Parameters == === Position Horizontal Source (Primary) (EK3_SRC1_POSXY) === _Position Horizontal Source (Primary)_ * Values || *Value* || *Meaning* || || 0 || None || || 3 || GPS || || 4 || Beacon || || 6 || !ExternalNav || === Velocity Horizontal Source (EK3_SRC1_VELXY) === _Velocity Horizontal Source_ * Values || *Value* || *Meaning* || || 0 || None || || 3 || GPS || || 4 || Beacon || || 5 || !OpticalFlow || || 6 || !ExternalNav || || 7 || !WheelEncoder || === Position Vertical Source (EK3_SRC1_POSZ) === _Position Vertical Source_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Baro || || 2 || !RangeFinder || || 3 || GPS || || 4 || Beacon || || 6 || !ExternalNav || === Velocity Vertical Source (EK3_SRC1_VELZ) === _Velocity Vertical Source_ * Values || *Value* || *Meaning* || || 0 || None || || 3 || GPS || || 4 || Beacon || || 6 || !ExternalNav || === Yaw Source (EK3_SRC1_YAW) === _Yaw Source_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Compass || || 2 || GPS || || 3 || GPS with Compass Fallback || || 6 || !ExternalNav || || 8 || GSF || === Position Horizontal Source (Secondary) (EK3_SRC2_POSXY) === _Position Horizontal Source (Secondary)_ * Values || *Value* || *Meaning* || || 0 || None || || 3 || GPS || || 4 || Beacon || || 6 || !ExternalNav || === Velocity Horizontal Source (Secondary) (EK3_SRC2_VELXY) === _Velocity Horizontal Source (Secondary)_ * Values || *Value* || *Meaning* || || 0 || None || || 3 || GPS || || 4 || Beacon || || 5 || !OpticalFlow || || 6 || !ExternalNav || || 7 || !WheelEncoder || === Position Vertical Source (Secondary) (EK3_SRC2_POSZ) === _Position Vertical Source (Secondary)_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Baro || || 2 || !RangeFinder || || 3 || GPS || || 4 || Beacon || || 6 || !ExternalNav || === Velocity Vertical Source (Secondary) (EK3_SRC2_VELZ) === _Velocity Vertical Source (Secondary)_ * Values || *Value* || *Meaning* || || 0 || None || || 3 || GPS || || 4 || Beacon || || 6 || !ExternalNav || === Yaw Source (Secondary) (EK3_SRC2_YAW) === _Yaw Source (Secondary)_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Compass || || 2 || GPS || || 3 || GPS with Compass Fallback || || 6 || !ExternalNav || || 8 || GSF || === Position Horizontal Source (Tertiary) (EK3_SRC3_POSXY) === _Position Horizontal Source (Tertiary)_ * Values || *Value* || *Meaning* || || 0 || None || || 3 || GPS || || 4 || Beacon || || 6 || !ExternalNav || === Velocity Horizontal Source (Tertiary) (EK3_SRC3_VELXY) === _Velocity Horizontal Source (Tertiary)_ * Values || *Value* || *Meaning* || || 0 || None || || 3 || GPS || || 4 || Beacon || || 5 || !OpticalFlow || || 6 || !ExternalNav || || 7 || !WheelEncoder || === Position Vertical Source (Tertiary) (EK3_SRC3_POSZ) === _Position Vertical Source (Tertiary)_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Baro || || 2 || !RangeFinder || || 3 || GPS || || 4 || Beacon || || 6 || !ExternalNav || === Velocity Vertical Source (Tertiary) (EK3_SRC3_VELZ) === _Velocity Vertical Source (Tertiary)_ * Values || *Value* || *Meaning* || || 0 || None || || 3 || GPS || || 4 || Beacon || || 6 || !ExternalNav || === Yaw Source (Tertiary) (EK3_SRC3_YAW) === _Yaw Source (Tertiary)_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Compass || || 2 || GPS || || 3 || GPS with Compass Fallback || || 6 || !ExternalNav || || 8 || GSF || === EKF Source Options (EK3_SRC_OPTIONS) === _EKF Source Options_ * Bitmask: 0:FuseAllVelocities == FENCE_ Parameters == === Fence enable/disable (FENCE_ENABLE) === _Allows you to enable (1) or disable (0) the fence functionality_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Fence Type (FENCE_TYPE) === _Enabled fence types held as bitmask_ * Bitmask: 0:Max altitude,1:Circle,2:Polygon,3:Min altitude * Values || *Value* || *Meaning* || || 0 || None || || 1 || Max altitude || || 2 || Circle || || 3 || Max altitude and Circle || || 4 || Polygon || || 5 || Max altitude and Polygon || || 6 || Circle and Polygon || || 7 || Max altitude circle and Polygon || || 8 || Min altitude || === 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 || === Fence Maximum Altitude (FENCE_ALT_MAX) === _Maximum altitude allowed before geofence triggers_ * Range: 10 1000 * Increment: 1 * Units: meters === Circular Fence Radius (FENCE_RADIUS) === _Circle fence radius which when breached will cause an RTL_ * Range: 30 10000 * Units: meters === Fence Margin (FENCE_MARGIN) === _Distance that autopilot's should maintain from the fence to avoid a breach_ * Range: 1 10 * Units: meters === Fence polygon point total (FENCE_TOTAL) === _Number of polygon points saved in eeprom (do not update manually)_ * Range: 1 20 === Fence Minimum Altitude (FENCE_ALT_MIN) === _Minimum altitude allowed before geofence triggers_ * Range: -100 100 * Increment: 1 * Units: meters === Fence Auto-Enable (FENCE_AUTOENABLE) === _Auto-enable of fence_ * Range: 0 3 * Values || *Value* || *Meaning* || || 0 || !AutoEnableOff || || 1 || !AutoEnableOnTakeoff || || 2 || !AutoEnableDisableFloorOnLanding || || 3 || !AutoEnableOnlyWhenArmed || * Increment: 1 == FFT_ Parameters == === Enable (FFT_ENABLE) === _Enable Gyro FFT analyser_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || * !RebootRequired: True === Minimum Frequency (FFT_MINHZ) === _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: 20 400 * Units: hertz === Maximum Frequency (FFT_MAXHZ) === _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: 20 495 * Units: hertz === Sample Mode (FFT_SAMPLE_MODE) === _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 4 * !RebootRequired: True === FFT window size (FFT_WINDOW_SIZE) === _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 1024 * !RebootRequired: True === FFT window overlap (FFT_WINDOW_OLAP) === _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 0.9 * !RebootRequired: True === FFT learned hover frequency (FFT_FREQ_HOVER) === _The learned hover noise frequency_ * Range: 0 250 === FFT learned thrust reference (FFT_THR_REF) === _FFT learned thrust reference for the hover frequency and FFT minimum frequency._ * Range: 0.01 0.9 === FFT SNR reference threshold (FFT_SNR_REF) === _FFT SNR reference threshold in dB at which a signal is determined to be present._ * Range: 0.0 100.0 === FFT attenuation for bandwidth calculation (FFT_ATT_REF) === _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: 0 100 === FFT learned bandwidth at hover (FFT_BW_HOVER) === _FFT learned bandwidth at hover for the attenuation frequencies._ * Range: 0 200 === FFT harmonic fit frequency threshold (FFT_HMNC_FIT) === _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: 0 100 * !RebootRequired: True === FFT harmonic peak target (FFT_HMNC_PEAK) === _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 || == FLOW Parameters == === Optical flow sensor type (FLOW_TYPE) === _Optical flow sensor type_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || PX4Flow || || 2 || Pixart || || 3 || Bebop || || 4 || CXOF || || 5 || MAVLink || || 6 || UAVCAN || || 7 || MSP || || 8 || UPFLOW || * !RebootRequired: True === X axis optical flow scale factor correction (FLOW_FXSCALER) === _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._ * Range: -200 +200 * Increment: 1 === Y axis optical flow scale factor correction (FLOW_FYSCALER) === _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._ * Range: -200 +200 * Increment: 1 === Flow sensor yaw alignment (FLOW_ORIENT_YAW) === _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._ * Range: -18000 +18000 * Increment: 1 * Units: centidegrees === X position offset (FLOW_POS_X) === _X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (FLOW_POS_Y) === _Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (FLOW_POS_Z) === _Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin._ * Range: -5 5 * Increment: 0.01 * Units: meters === Address on the bus (FLOW_ADDR) === _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: 0 127 == FRSKY_ Parameters == === Uplink sensor id (FRSKY_UPLINK_ID) === _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 || === First downlink sensor id (FRSKY_DNLINK1_ID) === _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 || === Second downlink sensor id (FRSKY_DNLINK2_ID) === _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 || == GEN_ Parameters == === Generator type (GEN_TYPE) === _Generator type_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || IE 650w 800w Fuel Cell || || 2 || IE 2.4kW Fuel Cell || || 3 || Richenpower || * !RebootRequired: True == GPS Parameters == === 1st GPS type (GPS_TYPE) === _GPS type of 1st GPS_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || AUTO || || 2 || uBlox || || 3 || MTK || || 4 || MTK19 || || 5 || NMEA || || 6 || !SiRF || || 7 || HIL || || 8 || !SwiftNav || || 9 || UAVCAN || || 10 || SBF || || 11 || GSOF || || 13 || ERB || || 14 || MAV || || 15 || NOVA || || 16 || !HemisphereNMEA || || 17 || uBlox-MovingBaseline-Base || || 18 || uBlox-MovingBaseline-Rover || || 19 || MSP || || 20 || !AllyStar || || 21 || !ExternalAHRS || * !RebootRequired: True === 2nd GPS type (GPS_TYPE2) === _GPS type of 2nd GPS_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || AUTO || || 2 || uBlox || || 3 || MTK || || 4 || MTK19 || || 5 || NMEA || || 6 || !SiRF || || 7 || HIL || || 8 || !SwiftNav || || 9 || UAVCAN || || 10 || SBF || || 11 || GSOF || || 13 || ERB || || 14 || MAV || || 15 || NOVA || || 16 || !HemisphereNMEA || || 17 || uBlox-MovingBaseline-Base || || 18 || uBlox-MovingBaseline-Rover || || 19 || MSP || || 20 || !AllyStar || || 21 || !ExternalAHRS || * !RebootRequired: True === Navigation filter setting (GPS_NAVFILTER) === _Navigation filter engine setting_ * Values || *Value* || *Meaning* || || 0 || Portable || || 2 || Stationary || || 3 || Pedestrian || || 4 || Automotive || || 5 || Sea || || 6 || Airborne1G || || 7 || Airborne2G || || 8 || Airborne4G || === Automatic Switchover Setting (GPS_AUTO_SWITCH) === _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 over '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 || === Minimum Lock Type Accepted for DGPS (GPS_MIN_DGPS) === _Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode._ * Values || *Value* || *Meaning* || || 0 || Any || || 50 || !FloatRTK || || 100 || !IntegerRTK || * !RebootRequired: True === SBAS Mode (GPS_SBAS_MODE) === _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 || === Minimum elevation (GPS_MIN_ELEV) === _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: -100 90 * Units: degrees === Destination for GPS_INJECT_DATA MAVLink packets (GPS_INJECT_TO) === _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 || === Swift Binary Protocol Logging Mask (GPS_SBP_LOGMASK) === _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) || === Raw data logging (GPS_RAW_DATA) === _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) || * !RebootRequired: True === GNSS system configuration (GPS_GNSS_MODE) === _Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)_ * Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS * Values || *Value* || *Meaning* || || 0 || Leave as currently configured || || 1 || GPS-NoSBAS || || 3 || GPS+SBAS || || 4 || Galileo-NoSBAS || || 6 || Galileo+SBAS || || 8 || Beidou || || 51 || GPS+IMES+QZSS+SBAS (Japan Only) || || 64 || GLONASS || || 66 || GLONASS+SBAS || || 67 || GPS+GLONASS+SBAS || === Save GPS configuration (GPS_SAVE_CFG) === _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 || === GNSS system configuration (GPS_GNSS_MODE2) === _Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)_ * Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS * Values || *Value* || *Meaning* || || 0 || Leave as currently configured || || 1 || GPS-NoSBAS || || 3 || GPS+SBAS || || 4 || Galileo-NoSBAS || || 6 || Galileo+SBAS || || 8 || Beidou || || 51 || GPS+IMES+QZSS+SBAS (Japan Only) || || 64 || GLONASS || || 66 || GLONASS+SBAS || || 67 || GPS+GLONASS+SBAS || === Automatic GPS configuration (GPS_AUTO_CONFIG) === _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 || === GPS update rate in milliseconds (GPS_RATE_MS) === _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: 50 200 * Values || *Value* || *Meaning* || || 100 || 10Hz || || 125 || 8Hz || || 200 || 5Hz || * Units: milliseconds === GPS 2 update rate in milliseconds (GPS_RATE_MS2) === _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: 50 200 * Values || *Value* || *Meaning* || || 100 || 10Hz || || 125 || 8Hz || || 200 || 5Hz || * Units: milliseconds === Antenna X position offset (GPS_POS1_X) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Antenna Y position offset (GPS_POS1_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Antenna Z position offset (GPS_POS1_Z) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Antenna X position offset (GPS_POS2_X) === _X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer._ * Range: -5 5 * Increment: 0.01 * Units: meters === Antenna Y position offset (GPS_POS2_Y) === _Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer._ * Range: -5 5 * Increment: 0.01 * Units: meters === Antenna Z position offset (GPS_POS2_Z) === _Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer._ * Range: -5 5 * Increment: 0.01 * Units: meters === GPS delay in milliseconds (GPS_DELAY_MS) === _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: 0 250 * Units: milliseconds * !RebootRequired: True === GPS 2 delay in milliseconds (GPS_DELAY_MS2) === _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: 0 250 * Units: milliseconds * !RebootRequired: True === Multi GPS Blending Mask (GPS_BLEND_MASK) === _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: 0:Horiz Pos,1:Vert Pos,2:Speed === Blending time constant (GPS_BLEND_TC) === _Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences._ * Range: 5.0 30.0 * Units: seconds === driver options (GPS_DRV_OPTIONS) === _Additional backend specific options_ * Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF === GPS physical COM port (GPS_COM_PORT) === _The physical COM port on the connected device, currently only applies to SBF GPS_ * Range: 0 10 * Increment: 1 * !RebootRequired: True === GPS physical COM port (GPS_COM_PORT2) === _The physical COM port on the connected device, currently only applies to SBF GPS_ * Range: 0 10 * Increment: 1 * !RebootRequired: True === Primary GPS (GPS_PRIMARY) === _This GPS will be used when GPS`_`AUTO`_`SWITCH is 0 and used preferentially with GPS`_`AUTO`_`SWITCH `=` 4._ * Values || *Value* || *Meaning* || || 0 || !FirstGPS || || 1 || !SecondGPS || * Increment: 1 === GPS Node ID 1 (GPS_CAN_NODEID1) === _GPS Node id for discovered first._ * !ReadOnly: True === GPS Node ID 2 (GPS_CAN_NODEID2) === _GPS Node id for discovered second._ * !ReadOnly: True === First UAVCAN GPS NODE ID (GPS1_CAN_OVRIDE) === _GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis._ === Second UAVCAN GPS NODE ID (GPS2_CAN_OVRIDE) === _GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis._ == GPS_MB1_ Parameters == === Moving base type (GPS_MB1_TYPE) === _Controls the type of moving base used if using moving base._ * Values || *Value* || *Meaning* || || 0 || Relative to alternate GPS instance || || 1 || !RelativeToCustomBase || * !RebootRequired: True === Base antenna X position offset (GPS_MB1_OFS_X) === _X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer._ * Range: -5 5 * Increment: 0.01 * Units: meters === Base antenna Y position offset (GPS_MB1_OFS_Y) === _Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer._ * Range: -5 5 * Increment: 0.01 * Units: meters === Base antenna Z position offset (GPS_MB1_OFS_Z) === _Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer._ * Range: -5 5 * Increment: 0.01 * Units: meters == GPS_MB2_ Parameters == === Moving base type (GPS_MB2_TYPE) === _Controls the type of moving base used if using moving base._ * Values || *Value* || *Meaning* || || 0 || Relative to alternate GPS instance || || 1 || !RelativeToCustomBase || * !RebootRequired: True === Base antenna X position offset (GPS_MB2_OFS_X) === _X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer._ * Range: -5 5 * Increment: 0.01 * Units: meters === Base antenna Y position offset (GPS_MB2_OFS_Y) === _Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer._ * Range: -5 5 * Increment: 0.01 * Units: meters === Base antenna Z position offset (GPS_MB2_OFS_Z) === _Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer._ * Range: -5 5 * Increment: 0.01 * Units: meters == GRIP_ Parameters == === Gripper Enable/Disable (GRIP_ENABLE) === _Gripper enable`/`disable_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Gripper Type (GRIP_TYPE) === _Gripper enable`/`disable_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Servo || || 2 || EPM || === Gripper Grab PWM (GRIP_GRAB) === _PWM value in microseconds sent to Gripper to initiate grabbing the cargo_ * Range: 1000 2000 * Units: PWM in microseconds === Gripper Release PWM (GRIP_RELEASE) === _PWM value in microseconds sent to Gripper to release the cargo_ * Range: 1000 2000 * Units: PWM in microseconds === Neutral PWM (GRIP_NEUTRAL) === _PWM value in microseconds sent to grabber when not grabbing or releasing_ * Range: 1000 2000 * Units: PWM in microseconds === Gripper Regrab interval (GRIP_REGRAB) === _Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable_ * Range: 0 255 * Units: seconds === EPM UAVCAN Hardpoint ID (GRIP_UAVCAN_ID) === _Refer to https:`/``/`docs.zubax.com`/`opengrab`_`epm`_`v3`#`UAVCAN`_`interface_ * Range: 0 255 == INS_ Parameters == === Gyro offsets of X axis (INS_GYROFFS_X) === _Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations_ * Calibration: 1 * Units: radians per second === Gyro offsets of Y axis (INS_GYROFFS_Y) === _Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations_ * Calibration: 1 * Units: radians per second === Gyro offsets of Z axis (INS_GYROFFS_Z) === _Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations_ * Calibration: 1 * Units: radians per second === Gyro2 offsets of X axis (INS_GYR2OFFS_X) === _Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations_ * Calibration: 1 * Units: radians per second === Gyro2 offsets of Y axis (INS_GYR2OFFS_Y) === _Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations_ * Calibration: 1 * Units: radians per second === Gyro2 offsets of Z axis (INS_GYR2OFFS_Z) === _Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations_ * Calibration: 1 * Units: radians per second === Gyro3 offsets of X axis (INS_GYR3OFFS_X) === _Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations_ * Calibration: 1 * Units: radians per second === Gyro3 offsets of Y axis (INS_GYR3OFFS_Y) === _Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations_ * Calibration: 1 * Units: radians per second === Gyro3 offsets of Z axis (INS_GYR3OFFS_Z) === _Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations_ * Calibration: 1 * Units: radians per second === Accelerometer scaling of X axis (INS_ACCSCAL_X) === _Accelerometer scaling of X axis. Calculated during acceleration calibration routine_ * Calibration: 1 * Range: 0.8 1.2 === Accelerometer scaling of Y axis (INS_ACCSCAL_Y) === _Accelerometer scaling of Y axis Calculated during acceleration calibration routine_ * Calibration: 1 * Range: 0.8 1.2 === Accelerometer scaling of Z axis (INS_ACCSCAL_Z) === _Accelerometer scaling of Z axis Calculated during acceleration calibration routine_ * Calibration: 1 * Range: 0.8 1.2 === Accelerometer offsets of X axis (INS_ACCOFFS_X) === _Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations_ * Calibration: 1 * Range: -3.5 3.5 * Units: meters per square second === Accelerometer offsets of Y axis (INS_ACCOFFS_Y) === _Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations_ * Calibration: 1 * Range: -3.5 3.5 * Units: meters per square second === Accelerometer offsets of Z axis (INS_ACCOFFS_Z) === _Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations_ * Calibration: 1 * Range: -3.5 3.5 * Units: meters per square second === Accelerometer2 scaling of X axis (INS_ACC2SCAL_X) === _Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine_ * Calibration: 1 * Range: 0.8 1.2 === Accelerometer2 scaling of Y axis (INS_ACC2SCAL_Y) === _Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine_ * Calibration: 1 * Range: 0.8 1.2 === Accelerometer2 scaling of Z axis (INS_ACC2SCAL_Z) === _Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine_ * Calibration: 1 * Range: 0.8 1.2 === Accelerometer2 offsets of X axis (INS_ACC2OFFS_X) === _Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations_ * Calibration: 1 * Range: -3.5 3.5 * Units: meters per square second === Accelerometer2 offsets of Y axis (INS_ACC2OFFS_Y) === _Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations_ * Calibration: 1 * Range: -3.5 3.5 * Units: meters per square second === Accelerometer2 offsets of Z axis (INS_ACC2OFFS_Z) === _Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations_ * Calibration: 1 * Range: -3.5 3.5 * Units: meters per square second === Accelerometer3 scaling of X axis (INS_ACC3SCAL_X) === _Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine_ * Calibration: 1 * Range: 0.8 1.2 === Accelerometer3 scaling of Y axis (INS_ACC3SCAL_Y) === _Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine_ * Calibration: 1 * Range: 0.8 1.2 === Accelerometer3 scaling of Z axis (INS_ACC3SCAL_Z) === _Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine_ * Calibration: 1 * Range: 0.8 1.2 === Accelerometer3 offsets of X axis (INS_ACC3OFFS_X) === _Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations_ * Calibration: 1 * Range: -3.5 3.5 * Units: meters per square second === Accelerometer3 offsets of Y axis (INS_ACC3OFFS_Y) === _Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations_ * Calibration: 1 * Range: -3.5 3.5 * Units: meters per square second === Accelerometer3 offsets of Z axis (INS_ACC3OFFS_Z) === _Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations_ * Calibration: 1 * Range: -3.5 3.5 * Units: meters per square second === Gyro filter cutoff frequency (INS_GYRO_FILTER) === _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: 0 256 * Units: hertz === Accel filter cutoff frequency (INS_ACCEL_FILTER) === _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: 0 256 * Units: hertz === Use first IMU for attitude, velocity and position estimates (INS_USE) === _Use first IMU for attitude, velocity and position estimates_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Use second IMU for attitude, velocity and position estimates (INS_USE2) === _Use second IMU for attitude, velocity and position estimates_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Use third IMU for attitude, velocity and position estimates (INS_USE3) === _Use third IMU for attitude, velocity and position estimates_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Stillness threshold for detecting if we are moving (INS_STILL_THRESH) === _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 50 === Gyro Calibration scheme (INS_GYR_CAL) === _Conrols when automatic gyro calibration is performed_ * Values || *Value* || *Meaning* || || 0 || Never || || 1 || Start-up only || === Accel cal trim option (INS_TRIM_OPTION) === _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 || === Body-fixed accelerometer (INS_ACC_BODYFIX) === _The body-fixed accelerometer to be used for trim calculation_ * Values || *Value* || *Meaning* || || 1 || IMU 1 || || 2 || IMU 2 || || 3 || IMU 3 || === IMU accelerometer X position (INS_POS1_X) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === IMU accelerometer Y position (INS_POS1_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === IMU accelerometer Z position (INS_POS1_Z) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === IMU accelerometer X position (INS_POS2_X) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === IMU accelerometer Y position (INS_POS2_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === IMU accelerometer Z position (INS_POS2_Z) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === IMU accelerometer X position (INS_POS3_X) === _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: -10 10 * Units: meters === IMU accelerometer Y position (INS_POS3_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === IMU accelerometer Z position (INS_POS3_Z) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Gyro ID (INS_GYR_ID) === _Gyro sensor ID, taking into account its type, bus and instance_ * !ReadOnly: True === Gyro2 ID (INS_GYR2_ID) === _Gyro2 sensor ID, taking into account its type, bus and instance_ * !ReadOnly: True === Gyro3 ID (INS_GYR3_ID) === _Gyro3 sensor ID, taking into account its type, bus and instance_ * !ReadOnly: True === Accelerometer ID (INS_ACC_ID) === _Accelerometer sensor ID, taking into account its type, bus and instance_ * !ReadOnly: True === Accelerometer2 ID (INS_ACC2_ID) === _Accelerometer2 sensor ID, taking into account its type, bus and instance_ * !ReadOnly: True === Accelerometer3 ID (INS_ACC3_ID) === _Accelerometer3 sensor ID, taking into account its type, bus and instance_ * !ReadOnly: True === Fast sampling mask (INS_FAST_SAMPLE) === _Mask of IMUs to enable fast sampling on, if available_ * Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU * Values || *Value* || *Meaning* || || 1 || !FirstIMUOnly || || 3 || !FirstAndSecondIMU || === IMU enable mask (INS_ENABLE_MASK) === _Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs_ * Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU * Values || *Value* || *Meaning* || || 1 || !FirstIMUOnly || || 3 || !FirstAndSecondIMU || || 7 || !FirstSecondAndThirdIMU || || 127 || !AllIMUs || === Gyro rate for IMUs with Fast Sampling enabled (INS_GYRO_RATE) === _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 || * !RebootRequired: True === Calibration temperature for 1st accelerometer (INS_ACC1_CALTEMP) === _Temperature that the 1st accelerometer was calibrated at_ * Calibration: 1 * Units: degrees Celsius === Calibration temperature for 1st gyroscope (INS_GYR1_CALTEMP) === _Temperature that the 1st gyroscope was calibrated at_ * Calibration: 1 * Units: degrees Celsius === Calibration temperature for 2nd accelerometer (INS_ACC2_CALTEMP) === _Temperature that the 2nd accelerometer was calibrated at_ * Calibration: 1 * Units: degrees Celsius === Calibration temperature for 2nd gyroscope (INS_GYR2_CALTEMP) === _Temperature that the 2nd gyroscope was calibrated at_ * Calibration: 1 * Units: degrees Celsius === Calibration temperature for 3rd accelerometer (INS_ACC3_CALTEMP) === _Temperature that the 3rd accelerometer was calibrated at_ * Calibration: 1 * Units: degrees Celsius === Calibration temperature for 3rd gyroscope (INS_GYR3_CALTEMP) === _Temperature that the 3rd gyroscope was calibrated at_ * Calibration: 1 * Units: degrees Celsius === Options for temperature calibration (INS_TCAL_OPTIONS) === _This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader._ * Bitmask: 0:PersistParams == INS_HNTCH_ Parameters == === Harmonic Notch Filter enable (INS_HNTCH_ENABLE) === _Harmonic Notch Filter enable_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Harmonic Notch Filter base frequency (INS_HNTCH_FREQ) === _Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz._ * Range: 10 495 * Units: hertz === Harmonic Notch Filter bandwidth (INS_HNTCH_BW) === _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: 5 250 * Units: hertz === Harmonic Notch Filter attenuation (INS_HNTCH_ATT) === _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: 5 50 * Units: decibel === Harmonic Notch Filter harmonics (INS_HNTCH_HMNCS) === _Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time._ * Bitmask: 0:1st harmonic,1:2nd harmonic,2:3rd harmonic,3:4th hamronic,4:5th harmonic,5:6th harmonic,6:7th harmonic,7:8th harmonic * !RebootRequired: True === Harmonic Notch Filter reference value (INS_HNTCH_REF) === _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 1.0 * !RebootRequired: True === Harmonic Notch Filter dynamic frequency tracking mode (INS_HNTCH_MODE) === _Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters._ * Range: 0 4 * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Throttle || || 2 || RPM Sensor || || 3 || ESC Telemetry || || 4 || Dynamic FFT || === Harmonic Notch Filter options (INS_HNTCH_OPTS) === _Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics 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._ * Bitmask: 0:Double notch,1:Dynamic harmonic * !RebootRequired: True == INS_LOG_ Parameters == === sample count per batch (INS_LOG_BAT_CNT) === _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 * !RebootRequired: True === Sensor Bitmask (INS_LOG_BAT_MASK) === _Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot._ * Bitmask: 0:IMU1,1:IMU2,2:IMU3 * Values || *Value* || *Meaning* || || 0 || None || || 1 || First IMU || || 255 || All || * !RebootRequired: True === Batch Logging Options Mask (INS_LOG_BAT_OPT) === _Options for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time._ * Bitmask: 0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering === logging interval (INS_LOG_BAT_LGIN) === _Interval between pushing samples to the AP`_`Logger log_ * Increment: 10 * Units: milliseconds === logging count (INS_LOG_BAT_LGCT) === _Number of samples to push to count every INS`_`LOG`_`BAT`_`LGIN_ * Increment: 1 == INS_NOTCH_ Parameters == === Enable (INS_NOTCH_ENABLE) === _Enable notch filter_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Attenuation (INS_NOTCH_ATT) === _Notch attenuation in dB_ * Range: 5 30 * Units: decibel === Frequency (INS_NOTCH_FREQ) === _Notch center frequency in Hz_ * Range: 10 400 * Units: hertz === Bandwidth (INS_NOTCH_BW) === _Notch bandwidth in Hz_ * Range: 5 100 * Units: hertz == INS_TCAL1_ Parameters == === Enable temperature calibration (INS_TCAL1_ENABLE) === _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 || * !RebootRequired: True === Temperature calibration min (INS_TCAL1_TMIN) === _The minimum temperature that the calibration is valid for_ * Calibration: 1 * Range: -70 80 * Units: degrees Celsius === Temperature calibration max (INS_TCAL1_TMAX) === _The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration_ * Calibration: 1 * Range: -70 80 * Units: degrees Celsius === Accelerometer 1st order temperature coefficient X axis (INS_TCAL1_ACC1_X) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 1st order temperature coefficient Y axis (INS_TCAL1_ACC1_Y) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 1st order temperature coefficient Z axis (INS_TCAL1_ACC1_Z) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 2nd order temperature coefficient X axis (INS_TCAL1_ACC2_X) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL1_ACC2_Y) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL1_ACC2_Z) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 3rd order temperature coefficient X axis (INS_TCAL1_ACC3_X) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL1_ACC3_Y) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL1_ACC3_Z) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 1st order temperature coefficient X axis (INS_TCAL1_GYR1_X) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 1st order temperature coefficient Y axis (INS_TCAL1_GYR1_Y) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 1st order temperature coefficient Z axis (INS_TCAL1_GYR1_Z) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 2nd order temperature coefficient X axis (INS_TCAL1_GYR2_X) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL1_GYR2_Y) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL1_GYR2_Z) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 3rd order temperature coefficient X axis (INS_TCAL1_GYR3_X) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL1_GYR3_Y) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL1_GYR3_Z) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 == INS_TCAL2_ Parameters == === Enable temperature calibration (INS_TCAL2_ENABLE) === _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 || * !RebootRequired: True === Temperature calibration min (INS_TCAL2_TMIN) === _The minimum temperature that the calibration is valid for_ * Calibration: 1 * Range: -70 80 * Units: degrees Celsius === Temperature calibration max (INS_TCAL2_TMAX) === _The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration_ * Calibration: 1 * Range: -70 80 * Units: degrees Celsius === Accelerometer 1st order temperature coefficient X axis (INS_TCAL2_ACC1_X) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 1st order temperature coefficient Y axis (INS_TCAL2_ACC1_Y) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 1st order temperature coefficient Z axis (INS_TCAL2_ACC1_Z) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 2nd order temperature coefficient X axis (INS_TCAL2_ACC2_X) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL2_ACC2_Y) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL2_ACC2_Z) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 3rd order temperature coefficient X axis (INS_TCAL2_ACC3_X) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL2_ACC3_Y) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL2_ACC3_Z) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 1st order temperature coefficient X axis (INS_TCAL2_GYR1_X) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 1st order temperature coefficient Y axis (INS_TCAL2_GYR1_Y) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 1st order temperature coefficient Z axis (INS_TCAL2_GYR1_Z) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 2nd order temperature coefficient X axis (INS_TCAL2_GYR2_X) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL2_GYR2_Y) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL2_GYR2_Z) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 3rd order temperature coefficient X axis (INS_TCAL2_GYR3_X) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL2_GYR3_Y) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL2_GYR3_Z) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 == INS_TCAL3_ Parameters == === Enable temperature calibration (INS_TCAL3_ENABLE) === _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 || * !RebootRequired: True === Temperature calibration min (INS_TCAL3_TMIN) === _The minimum temperature that the calibration is valid for_ * Calibration: 1 * Range: -70 80 * Units: degrees Celsius === Temperature calibration max (INS_TCAL3_TMAX) === _The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration_ * Calibration: 1 * Range: -70 80 * Units: degrees Celsius === Accelerometer 1st order temperature coefficient X axis (INS_TCAL3_ACC1_X) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 1st order temperature coefficient Y axis (INS_TCAL3_ACC1_Y) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 1st order temperature coefficient Z axis (INS_TCAL3_ACC1_Z) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 2nd order temperature coefficient X axis (INS_TCAL3_ACC2_X) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL3_ACC2_Y) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL3_ACC2_Z) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 3rd order temperature coefficient X axis (INS_TCAL3_ACC3_X) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL3_ACC3_Y) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL3_ACC3_Z) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 1st order temperature coefficient X axis (INS_TCAL3_GYR1_X) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 1st order temperature coefficient Y axis (INS_TCAL3_GYR1_Y) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 1st order temperature coefficient Z axis (INS_TCAL3_GYR1_Z) === _This is the 1st order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 2nd order temperature coefficient X axis (INS_TCAL3_GYR2_X) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL3_GYR2_Y) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL3_GYR2_Z) === _This is the 2nd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 3rd order temperature coefficient X axis (INS_TCAL3_GYR3_X) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL3_GYR3_Y) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 === Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL3_GYR3_Z) === _This is the 3rd order temperature coefficient from a temperature calibration_ * Calibration: 1 == LEAK Parameters == === Pin that leak detector is connected to (LEAK1_PIN) === _Pin that the leak detector is connected to_ * Values || *Value* || *Meaning* || || -1 || Disabled || || 50 || Pixhawk Aux1 || || 51 || Pixhawk Aux2 || || 52 || Pixhawk Aux3 || || 53 || Pixhawk Aux4 || || 54 || Pixhawk Aux5 || || 55 || Pixhawk Aux6 || || 13 || Pixhawk 3.3ADC1 || || 14 || Pixhawk 3.3ADC2 || || 15 || Pixhawk 6.6ADC || || 11 || Navigator Leak1 || * !RebootRequired: True === Default reading of leak detector when dry (LEAK1_LOGIC) === _Default reading of leak detector when dry_ * Values || *Value* || *Meaning* || || 0 || Low || || 1 || High || === Pin that leak detector is connected to (LEAK2_PIN) === _Pin that the leak detector is connected to_ * Values || *Value* || *Meaning* || || -1 || Disabled || || 50 || Pixhawk Aux1 || || 51 || Pixhawk Aux2 || || 52 || Pixhawk Aux3 || || 53 || Pixhawk Aux4 || || 54 || Pixhawk Aux5 || || 55 || Pixhawk Aux6 || || 13 || Pixhawk 3.3ADC1 || || 14 || Pixhawk 3.3ADC2 || || 15 || Pixhawk 6.6ADC || || 11 || Navigator Leak1 || * !RebootRequired: True === Default reading of leak detector when dry (LEAK2_LOGIC) === _Default reading of leak detector when dry_ * Values || *Value* || *Meaning* || || 0 || Low || || 1 || High || === Pin that leak detector is connected to (LEAK3_PIN) === _Pin that the leak detector is connected to_ * Values || *Value* || *Meaning* || || -1 || Disabled || || 50 || Pixhawk Aux1 || || 51 || Pixhawk Aux2 || || 52 || Pixhawk Aux3 || || 53 || Pixhawk Aux4 || || 54 || Pixhawk Aux5 || || 55 || Pixhawk Aux6 || || 13 || Pixhawk 3.3ADC1 || || 14 || Pixhawk 3.3ADC2 || || 15 || Pixhawk 6.6ADC || || 11 || Navigator Leak1 || * !RebootRequired: True === Default reading of leak detector when dry (LEAK3_LOGIC) === _Default reading of leak detector when dry_ * Values || *Value* || *Meaning* || || 0 || Low || || 1 || High || == LOG Parameters == === AP_Logger Backend Storage type (LOG_BACKEND_TYPE) === _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: 0:File,1:MAVLink,2:Block * Values || *Value* || *Meaning* || || 0 || None || || 1 || File || || 2 || MAVLink || || 3 || File and MAVLink || || 4 || Block || || 6 || Block and MAVLink || === Maximum AP_Logger File and Block Backend buffer size (in kilobytes) (LOG_FILE_BUFSIZE) === _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. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes._ === Enable logging while disarmed (LOG_DISARMED) === _If LOG`_`DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Enable logging of information needed for Replay (LOG_REPLAY) === _If LOG`_`REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. 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 || === Stop logging to current file on disarm (LOG_FILE_DSRMROT) === _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 || === Maximum AP_Logger MAVLink Backend buffer size (LOG_MAV_BUFSIZE) === _Maximum amount of memory to allocate to AP`_`Logger-over-mavlink_ * Units: kilobytes === Timeout before giving up on file writes (LOG_FILE_TIMEOUT) === _This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped._ * Units: seconds === Old logs on the SD card will be deleted to maintain this amount of free space (LOG_FILE_MB_FREE) === _Set this such that the free space is larger than your largest typical flight log_ * Range: 10 1000 * Units: megabyte == LOIT_ Parameters == === Loiter Angle Max (LOIT_ANG_MAX) === _Loiter maximum lean angle. Set to zero for 2`/`3 of PSC`_`ANGLE`_`MAX or ANGLE`_`MAX_ * Range: 0 45 * Increment: 1 * Units: degrees === Loiter Horizontal Maximum Speed (LOIT_SPEED) === _Defines the maximum speed in cm`/`s which the aircraft will travel horizontally while in loiter mode_ * Range: 20 2000 * Increment: 50 * Units: centimeters per second === Loiter maximum correction acceleration (LOIT_ACC_MAX) === _Loiter maximum correction acceleration in cm`/`s`/`s. Higher values cause the copter to correct position errors more aggressively._ * Range: 100 981 * Increment: 1 * Units: centimeters per square second === Loiter braking acceleration (LOIT_BRK_ACCEL) === _Loiter braking acceleration in cm`/`s`/`s. Higher values stop the copter more quickly when the stick is centered._ * Range: 25 250 * Increment: 1 * Units: centimeters per square second === Loiter braking jerk (LOIT_BRK_JERK) === _Loiter braking jerk in cm`/`s`/`s`/`s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver._ * Range: 500 5000 * Increment: 1 * Units: centimeters per cubic second === Loiter brake start delay (in seconds) (LOIT_BRK_DELAY) === _Loiter brake start delay (in seconds)_ * Range: 0 2 * Increment: 0.1 * Units: seconds == MIS_ Parameters == === Total mission commands (MIS_TOTAL) === _The number of mission mission items that has been loaded by the ground station. Do not change this manually._ * !ReadOnly: True * Range: 0 32766 * Increment: 1 === Mission Restart when entering Auto mode (MIS_RESTART) === _Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)_ * Values || *Value* || *Meaning* || || 0 || Resume Mission || || 1 || Restart Mission || === Mission options bitmask (MIS_OPTIONS) === _Bitmask of what options to use in missions._ * Bitmask: 0:Clear Mission on reboot == MNT Parameters == === Mount Type (MNT_TYPE) === _Mount Type (None, Servo or MAVLink)_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Servo || || 2 || 3DR Solo || || 3 || Alexmos Serial || || 4 || SToRM32 MAVLink || || 5 || SToRM32 Serial || * !RebootRequired: True === Mount default operating mode (MNT_DEFLT_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 || === Mount roll angle when in retracted position (MNT_RETRACT_X) === _Mount roll angle when in retracted position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount tilt/pitch angle when in retracted position (MNT_RETRACT_Y) === _Mount tilt`/`pitch angle when in retracted position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount yaw/pan angle when in retracted position (MNT_RETRACT_Z) === _Mount yaw`/`pan angle when in retracted position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount roll angle when in neutral position (MNT_NEUTRAL_X) === _Mount roll angle when in neutral position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount tilt/pitch angle when in neutral position (MNT_NEUTRAL_Y) === _Mount tilt`/`pitch angle when in neutral position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount pan/yaw angle when in neutral position (MNT_NEUTRAL_Z) === _Mount pan`/`yaw angle when in neutral position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Stabilize mount's roll angle (MNT_STAB_ROLL) === _enable roll stabilisation relative to Earth_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Stabilize mount's pitch/tilt angle (MNT_STAB_TILT) === _enable tilt`/`pitch stabilisation relative to Earth_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Stabilize mount pan/yaw angle (MNT_STAB_PAN) === _enable pan`/`yaw stabilisation relative to Earth_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === roll RC input channel (MNT_RC_IN_ROLL) === _0 for none, any other for the RC channel to be used to control roll movements_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 5 || RC5 || || 6 || RC6 || || 7 || RC7 || || 8 || RC8 || || 9 || RC9 || || 10 || RC10 || || 11 || RC11 || || 12 || RC12 || === Minimum roll angle (MNT_ANGMIN_ROL) === _Minimum physical roll angular position of mount._ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === Maximum roll angle (MNT_ANGMAX_ROL) === _Maximum physical roll angular position of the mount_ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === tilt (pitch) RC input channel (MNT_RC_IN_TILT) === _0 for none, any other for the RC channel to be used to control tilt (pitch) movements_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 5 || RC5 || || 6 || RC6 || || 7 || RC7 || || 8 || RC8 || || 9 || RC9 || || 10 || RC10 || || 11 || RC11 || || 12 || RC12 || === Minimum tilt angle (MNT_ANGMIN_TIL) === _Minimum physical tilt (pitch) angular position of mount._ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === Maximum tilt angle (MNT_ANGMAX_TIL) === _Maximum physical tilt (pitch) angular position of the mount_ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === pan (yaw) RC input channel (MNT_RC_IN_PAN) === _0 for none, any other for the RC channel to be used to control pan (yaw) movements_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 5 || RC5 || || 6 || RC6 || || 7 || RC7 || || 8 || RC8 || || 9 || RC9 || || 10 || RC10 || || 11 || RC11 || || 12 || RC12 || === Minimum pan angle (MNT_ANGMIN_PAN) === _Minimum physical pan (yaw) angular position of mount._ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === Maximum pan angle (MNT_ANGMAX_PAN) === _Maximum physical pan (yaw) angular position of the mount_ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === mount joystick speed (MNT_JSTICK_SPD) === _0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second._ * Range: 0 100 * Increment: 1 === Roll stabilization lead time (MNT_LEAD_RLL) === _Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled._ * Range: 0.0 0.2 * Increment: .005 * Units: seconds === Pitch stabilization lead time (MNT_LEAD_PTCH) === _Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled._ * Range: 0.0 0.2 * Increment: .005 * Units: seconds === Mount default operating mode (MNT2_DEFLT_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 || === Mount2 roll angle when in retracted position (MNT2_RETRACT_X) === _Mount2 roll angle when in retracted position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount2 tilt/pitch angle when in retracted position (MNT2_RETRACT_Y) === _Mount2 tilt`/`pitch angle when in retracted position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount2 yaw/pan angle when in retracted position (MNT2_RETRACT_Z) === _Mount2 yaw`/`pan angle when in retracted position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount2 roll angle when in neutral position (MNT2_NEUTRAL_X) === _Mount2 roll angle when in neutral position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount2 tilt/pitch angle when in neutral position (MNT2_NEUTRAL_Y) === _Mount2 tilt`/`pitch angle when in neutral position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Mount2 pan/yaw angle when in neutral position (MNT2_NEUTRAL_Z) === _Mount2 pan`/`yaw angle when in neutral position_ * Range: -180.00 179.99 * Increment: 1 * Units: degrees === Stabilize Mount2's roll angle (MNT2_STAB_ROLL) === _enable roll stabilisation relative to Earth_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Stabilize Mount2's pitch/tilt angle (MNT2_STAB_TILT) === _enable tilt`/`pitch stabilisation relative to Earth_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Stabilize mount2 pan/yaw angle (MNT2_STAB_PAN) === _enable pan`/`yaw stabilisation relative to Earth_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === Mount2's roll RC input channel (MNT2_RC_IN_ROLL) === _0 for none, any other for the RC channel to be used to control roll movements_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 5 || RC5 || || 6 || RC6 || || 7 || RC7 || || 8 || RC8 || || 9 || RC9 || || 10 || RC10 || || 11 || RC11 || || 12 || RC12 || === Mount2's minimum roll angle (MNT2_ANGMIN_ROL) === _Mount2's minimum physical roll angular position_ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === Mount2's maximum roll angle (MNT2_ANGMAX_ROL) === _Mount2's maximum physical roll angular position_ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === Mount2's tilt (pitch) RC input channel (MNT2_RC_IN_TILT) === _0 for none, any other for the RC channel to be used to control tilt (pitch) movements_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 5 || RC5 || || 6 || RC6 || || 7 || RC7 || || 8 || RC8 || || 9 || RC9 || || 10 || RC10 || || 11 || RC11 || || 12 || RC12 || === Mount2's minimum tilt angle (MNT2_ANGMIN_TIL) === _Mount2's minimum physical tilt (pitch) angular position_ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === Mount2's maximum tilt angle (MNT2_ANGMAX_TIL) === _Mount2's maximum physical tilt (pitch) angular position_ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === Mount2's pan (yaw) RC input channel (MNT2_RC_IN_PAN) === _0 for none, any other for the RC channel to be used to control pan (yaw) movements_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 5 || RC5 || || 6 || RC6 || || 7 || RC7 || || 8 || RC8 || || 9 || RC9 || || 10 || RC10 || || 11 || RC11 || || 12 || RC12 || === Mount2's minimum pan angle (MNT2_ANGMIN_PAN) === _Mount2's minimum physical pan (yaw) angular position_ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === Mount2's maximum pan angle (MNT2_ANGMAX_PAN) === _MOunt2's maximum physical pan (yaw) angular position_ * Range: -18000 17999 * Increment: 1 * Units: centidegrees === Mount2's Roll stabilization lead time (MNT2_LEAD_RLL) === _Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled._ * Range: 0.0 0.2 * Increment: .005 * Units: seconds === Mount2's Pitch stabilization lead time (MNT2_LEAD_PTCH) === _Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled._ * Range: 0.0 0.2 * Increment: .005 * Units: seconds === Mount2 Type (MNT2_TYPE) === _Mount Type (None, Servo or MAVLink)_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Servo || || 2 || 3DR Solo || || 3 || Alexmos Serial || || 4 || SToRM32 MAVLink || || 5 || SToRM32 Serial || == MOT_ Parameters == === Motor normal or reverse (MOT_1_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_2_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_3_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_4_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_5_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_6_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_7_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_8_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Forward/vertical to pitch decoupling factor (MOT_FV_CPLNG_K) === _Used to decouple pitch from forward`/`vertical motion. 0 to disable, 1.2 normal_ * Range: 0.0 1.5 * Increment: 0.1 === Motor normal or reverse (MOT_9_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_10_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_11_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Motor normal or reverse (MOT_12_DIRECTION) === _Used to change motor rotation directions without changing wires_ * Values || *Value* || *Meaning* || || 1 || normal || || -1 || reverse || === Matrix Yaw Min (MOT_YAW_HEADROOM) === _Yaw control is given at least this pwm in microseconds range_ * Range: 0 500 * Units: PWM in microseconds === Thrust Curve Expo (MOT_THST_EXPO) === _Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)_ * Range: 0.25 0.8 === Motor Spin maximum (MOT_SPIN_MAX) === _Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range_ * Values: 0.9:Low,0.95:Default,1.0:High === Battery voltage compensation maximum voltage (MOT_BAT_VOLT_MAX) === _Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.4 `*` cell count, 0 `=` Disabled_ * Range: 6 53 * Units: volt === Battery voltage compensation minimum voltage (MOT_BAT_VOLT_MIN) === _Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 `*` cell count, 0 `=` Disabled_ * Range: 6 42 * Units: volt === Motor Current Max (MOT_BAT_CURR_MAX) === _Maximum current over which maximum throttle is limited (0 `=` Disabled)_ * Range: 0 200 * Units: ampere === Output PWM type (MOT_PWM_TYPE) === _This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output_ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || !OneShot || || 2 || !OneShot125 || || 3 || Brushed || || 4 || DShot150 || || 5 || DShot300 || || 6 || DShot600 || || 7 || DShot1200 || * !RebootRequired: True === PWM output miniumum (MOT_PWM_MIN) === _This sets the min PWM output value in microseconds that will ever be output to the motors, 0 `=` use input RC3`_`MIN_ * Range: 0 2000 * Units: PWM in microseconds === PWM output maximum (MOT_PWM_MAX) === _This sets the max PWM value in microseconds that will ever be output to the motors, 0 `=` use input RC3`_`MAX_ * Range: 0 2000 * Units: PWM in microseconds === Motor Spin minimum (MOT_SPIN_MIN) === _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._ * Values: 0.0:Low,0.15:Default,0.3:High === Motor Spin armed (MOT_SPIN_ARM) === _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._ * Values: 0.0:Low,0.1:Default,0.2:High === Motor Current Max Time Constant (MOT_BAT_CURR_TC) === _Time constant used to limit the maximum current_ * Range: 0 10 * Units: seconds === Thrust Hover Value (MOT_THST_HOVER) === _Motor thrust needed to hover expressed as a number from 0 to 1_ * Range: 0.2 0.8 === Hover Value Learning (MOT_HOVER_LEARN) === _Enable`/`Disable automatic learning of hover throttle_ * Values || *Value* || *Meaning* || || 0 || Disabled || === Motor PWM output disabled when disarmed (MOT_SAFE_DISARM) === _Disables motor PWM output when disarmed_ * Values || *Value* || *Meaning* || || 0 || PWM enabled while disarmed || || 1 || PWM disabled while disarmed || === Yaw Servo Max Lean Angle (MOT_YAW_SV_ANGLE) === _Yaw servo's maximum lean angle_ * Range: 5 80 * Increment: 1 * Units: degrees === Spool up time (MOT_SPOOL_TIME) === _Time in seconds to spool up the motors from zero to min throttle. _ * Range: 0 2 * Increment: 0.1 * Units: seconds === Motor boost scale (MOT_BOOST_SCALE) === _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._ * Range: 0 5 * Increment: 0.1 === Battery compensation index (MOT_BAT_IDX) === _Which battery monitor should be used for doing compensation_ * Values || *Value* || *Meaning* || || 0 || First battery || || 1 || Second battery || === Output slew time for increasing throttle (MOT_SLEW_UP_TIME) === _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._ * Range: 0 .5 * Increment: 0.001 * Units: seconds === Output slew time for decreasing throttle (MOT_SLEW_DN_TIME) === _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._ * Range: 0 .5 * Increment: 0.001 * Units: seconds === Time taken to disable and enable the motor PWM output when disarmed and armed. (MOT_SAFE_TIME) === _Time taken to disable and enable the motor PWM output when disarmed and armed._ * Range: 0 5 * Increment: 0.001 * Units: seconds == MSP Parameters == === Cell count override (MSP_OSD_NCELLS) === _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 OSD Options (MSP_OPTIONS) === _A bitmask to set some MSP specific options_ * Bitmask: 0:EnableTelemetryMode == NTF_ Parameters == === LED Brightness (NTF_LED_BRIGHT) === _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 || === Buzzer enable (NTF_BUZZ_ENABLE) === _Enable or disable the buzzer._ * Values || *Value* || *Meaning* || || 0 || Disable || || 1 || Enable || === Specifies colour source for the RGBLed (NTF_LED_OVERRIDE) === _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 || === Type of on-board I2C display (NTF_DISPLAY_TYPE) === _This sets up the type of on-board I2C display. Disabled by default._ * Values || *Value* || *Meaning* || || 0 || Disable || || 1 || ssd1306 || || 2 || sh1106 || || 10 || SITL || === !OreoLED Theme (NTF_OREO_THEME) === _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 || === Buzzer pin (NTF_BUZZ_PIN) === _Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET`!`_ * Values || *Value* || *Meaning* || || 0 || Disabled || === LED Driver Types (NTF_LED_TYPES) === _Controls what types of LEDs will be enabled_ * Bitmask: 0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting === Buzzer-on pin logic level (NTF_BUZZ_ON_LVL) === _Specifies pin level that indicates buzzer should play_ * Values || *Value* || *Meaning* || || 0 || !LowIsOn || || 1 || !HighIsOn || === Buzzer volume (NTF_BUZZ_VOLUME) === _Control the volume of the buzzer_ * Range: 0 100 * Units: percent === Serial LED String Length (NTF_LED_LEN) === _The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)_ * Range: 1 32 * !RebootRequired: True == PRX Parameters == === Proximity type (PRX_TYPE) === _What type of proximity sensor is connected_ * Values || *Value* || *Meaning* || || 0 || None || || 7 || !LightwareSF40c || || 1 || !LightWareSF40C-legacy || || 2 || MAVLink || || 3 || !TeraRangerTower || || 4 || !RangeFinder || || 5 || RPLidarA2 || || 6 || !TeraRangerTowerEvo || || 8 || !LightwareSF45B || || 10 || SITL || || 12 || !AirSimSITL || * !RebootRequired: True === Proximity sensor orientation (PRX_ORIENT) === _Proximity sensor orientation_ * Values || *Value* || *Meaning* || || 0 || Default || || 1 || Upside Down || === Proximity sensor yaw correction (PRX_YAW_CORR) === _Proximity sensor yaw correction_ * Range: -180 180 * Units: degrees === Proximity sensor ignore angle 1 (PRX_IGN_ANG1) === _Proximity sensor ignore angle 1_ * Range: 0 360 * Units: degrees === Proximity sensor ignore width 1 (PRX_IGN_WID1) === _Proximity sensor ignore width 1_ * Range: 0 127 * Units: degrees === Proximity sensor ignore angle 2 (PRX_IGN_ANG2) === _Proximity sensor ignore angle 2_ * Range: 0 360 * Units: degrees === Proximity sensor ignore width 2 (PRX_IGN_WID2) === _Proximity sensor ignore width 2_ * Range: 0 127 * Units: degrees === Proximity sensor ignore angle 3 (PRX_IGN_ANG3) === _Proximity sensor ignore angle 3_ * Range: 0 360 * Units: degrees === Proximity sensor ignore width 3 (PRX_IGN_WID3) === _Proximity sensor ignore width 3_ * Range: 0 127 * Units: degrees === Proximity sensor ignore angle 4 (PRX_IGN_ANG4) === _Proximity sensor ignore angle 4_ * Range: 0 360 * Units: degrees === Proximity sensor ignore width 4 (PRX_IGN_WID4) === _Proximity sensor ignore width 4_ * Range: 0 127 * Units: degrees === Proximity sensor ignore angle 5 (PRX_IGN_ANG5) === _Proximity sensor ignore angle 5_ * Range: 0 360 * Units: degrees === Proximity sensor ignore width 5 (PRX_IGN_WID5) === _Proximity sensor ignore width 5_ * Range: 0 127 * Units: degrees === Proximity sensor ignore angle 6 (PRX_IGN_ANG6) === _Proximity sensor ignore angle 6_ * Range: 0 360 * Units: degrees === Proximity sensor ignore width 6 (PRX_IGN_WID6) === _Proximity sensor ignore width 6_ * Range: 0 127 * Units: degrees === Proximity raw distances log (PRX_LOG_RAW) === _Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled_ * Values || *Value* || *Meaning* || || 0 || Off || || 1 || On || === Proximity filter cutoff frequency (PRX_FILT) === _Cutoff frequency for low pass filter applied to each face in the proximity boundary_ * Range: 0 20 * Units: hertz == PSC Parameters == === XY Acceleration filter cutoff frequency (PSC_ACC_XY_FILT) === _Lower values will slow the response of the navigation controller and reduce twitchiness_ * Range: 0.5 5 * Increment: 0.1 * Units: hertz === Position (vertical) controller P gain (PSC_POSZ_P) === _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_ * Range: 1.000 3.000 === Velocity (vertical) controller P gain (PSC_VELZ_P) === _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_ * Range: 1.000 8.000 === Velocity (vertical) controller I gain (PSC_VELZ_I) === _Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration_ * Range: 0.02 1.00 * Increment: 0.01 === Velocity (vertical) controller I gain maximum (PSC_VELZ_IMAX) === _Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output_ * Range: 1.000 8.000 === Velocity (vertical) controller D gain (PSC_VELZ_D) === _Velocity (vertical) controller D gain. Corrects short-term changes in velocity_ * Range: 0.00 1.00 * Increment: 0.001 === Velocity (vertical) controller Feed Forward gain (PSC_VELZ_FF) === _Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target_ * Range: 0 1 * Increment: 0.01 === Velocity (vertical) error filter (PSC_VELZ_FLTE) === _Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms_ * Range: 0 100 * Units: hertz === Velocity (vertical) input filter for D term (PSC_VELZ_FLTD) === _Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms_ * Range: 0 100 * Units: hertz === Acceleration (vertical) controller P gain (PSC_ACCZ_P) === _Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output_ * Range: 0.500 1.500 * Increment: 0.05 === Acceleration (vertical) controller I gain (PSC_ACCZ_I) === _Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration_ * Range: 0.000 3.000 === Acceleration (vertical) controller I gain maximum (PSC_ACCZ_IMAX) === _Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate_ * Range: 0 1000 * Units: decipercent === Acceleration (vertical) controller D gain (PSC_ACCZ_D) === _Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration_ * Range: 0.000 0.400 === Acceleration (vertical) controller feed forward (PSC_ACCZ_FF) === _Acceleration (vertical) controller feed forward_ * Range: 0 0.5 * Increment: 0.001 === Acceleration (vertical) controller target frequency in Hz (PSC_ACCZ_FLTT) === _Acceleration (vertical) controller target frequency in Hz_ * Range: 1 50 * Increment: 1 * Units: hertz === Acceleration (vertical) controller error frequency in Hz (PSC_ACCZ_FLTE) === _Acceleration (vertical) controller error frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Acceleration (vertical) controller derivative frequency in Hz (PSC_ACCZ_FLTD) === _Acceleration (vertical) controller derivative frequency in Hz_ * Range: 1 100 * Increment: 1 * Units: hertz === Accel (vertical) slew rate limit (PSC_ACCZ_SMAX) === _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._ * Range: 0 200 * Increment: 0.5 === Position (horizontal) controller P gain (PSC_POSXY_P) === _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_ * Range: 0.500 2.000 === Velocity (horizontal) P gain (PSC_VELXY_P) === _Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration_ * Range: 0.1 6.0 * Increment: 0.1 === Velocity (horizontal) I gain (PSC_VELXY_I) === _Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration_ * Range: 0.02 1.00 * Increment: 0.01 === Velocity (horizontal) D gain (PSC_VELXY_D) === _Velocity (horizontal) D gain. Corrects short-term changes in velocity_ * Range: 0.00 1.00 * Increment: 0.001 === Velocity (horizontal) integrator maximum (PSC_VELXY_IMAX) === _Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output_ * Range: 0 4500 * Increment: 10 * Units: centimeters per square second === Velocity (horizontal) input filter (PSC_VELXY_FILT) === _Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms_ * Range: 0 100 * Units: hertz === Velocity (horizontal) input filter (PSC_VELXY_D_FILT) === _Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term_ * Range: 0 100 * Units: hertz === Velocity (horizontal) feed forward gain (PSC_VELXY_FF) === _Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration_ * Range: 0 6 * Increment: 0.01 === Position Control Angle Max (PSC_ANGLE_MAX) === _Maximum lean angle autopilot can request. Set to zero to use ANGLE`_`MAX parameter value_ * Range: 0 45 * Increment: 1 * Units: degrees == RALLY_ Parameters == === Rally Total (RALLY_TOTAL) === _Number of rally points currently loaded_ === Rally Limit (RALLY_LIMIT_KM) === _Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used._ * Increment: 0.1 * Units: kilometers === Rally Include Home (RALLY_INCL_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 || == RC Parameters == === RC override timeout (RC_OVERRIDE_TIME) === _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: 0.0 120.0 * Units: seconds === RC options (RC_OPTIONS) === _RC input options_ * Bitmask: 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`/`Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry === RC protocols enabled (RC_PROTOCOLS) === _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: 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 == RC10_ Parameters == === RC min PWM (RC10_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC10_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC10_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC10_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC10_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC10_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC11_ Parameters == === RC min PWM (RC11_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC11_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC11_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC11_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC11_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC11_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC12_ Parameters == === RC min PWM (RC12_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC12_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC12_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC12_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC12_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC12_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC13_ Parameters == === RC min PWM (RC13_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC13_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC13_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC13_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC13_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC13_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC14_ Parameters == === RC min PWM (RC14_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC14_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC14_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC14_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC14_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC14_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC15_ Parameters == === RC min PWM (RC15_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC15_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC15_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC15_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC15_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC15_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC16_ Parameters == === RC min PWM (RC16_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC16_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC16_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC16_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC16_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC16_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC1_ Parameters == === RC min PWM (RC1_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC1_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC1_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC1_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC1_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC1_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC2_ Parameters == === RC min PWM (RC2_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC2_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC2_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC2_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC2_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC2_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC3_ Parameters == === RC min PWM (RC3_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC3_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC3_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC3_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC3_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC3_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC4_ Parameters == === RC min PWM (RC4_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC4_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC4_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC4_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC4_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC4_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC5_ Parameters == === RC min PWM (RC5_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC5_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC5_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC5_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC5_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC5_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC6_ Parameters == === RC min PWM (RC6_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC6_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC6_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC6_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC6_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC6_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC7_ Parameters == === RC min PWM (RC7_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC7_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC7_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC7_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC7_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC7_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC8_ Parameters == === RC min PWM (RC8_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC8_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC8_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC8_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC8_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC8_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RC9_ Parameters == === RC min PWM (RC9_MIN) === _RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC trim PWM (RC9_TRIM) === _RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC max PWM (RC9_MAX) === _RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === RC reversed (RC9_REVERSED) === _Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === RC dead-zone (RC9_DZ) === _PWM dead zone in microseconds around trim or bottom_ * Range: 0 200 * Units: PWM in microseconds === RC input option (RC9_OPTION) === _Function assigned to this RC channel_ * Values || *Value* || *Meaning* || || 0 || Do Nothing || || 4 || !ModeRTL || || 9 || Camera Trigger || || 16 || !ModeAuto || || 24 || Auto Mission Reset || || 27 || Retract Mount || || 28 || Relay 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 En || || 41 || !ArmDisarm || || 43 || !InvertedFlight || || 46 || RC Override Enable || || 51 || !ModeManual || || 55 || !ModeGuided || || 56 || !ModeLoiter || || 58 || Clear Waypoints || || 62 || Compass Learn || || 64 || Reverse Throttle || || 65 || GPS Disable || || 66 || Relay5 || || 67 || Relay6 || || 72 || !ModeCircle || || 77 || !ModeTakeoff || || 78 || !RunCam Control || || 79 || !RunCam OSD Control || || 81 || Disarm || || 82 || QAssist 3pos || || 84 || Air Mode || || 85 || Generator || || 86 || Non Auto Terrain Follow Disable || || 87 || Crow Select || || 88 || Soaring Enable || || 89 || Landing Flare || || 90 || EKF Pos Source || || 91 || Airspeed Ratio Calibration || || 92 || FBWA || || 95 || FBWA taildragger takeoff mode || || 96 || trigger re-reading of mode switch || || 100 || !KillIMU1 || || 101 || !KillIMU2 || || 102 || Camera Mode Toggle || || 105 || GPS Disable Yaw || || 208 || Flap || || 209 || Forward Throttle || || 300 || Scripting1 || || 301 || Scripting2 || || 302 || Scripting3 || || 303 || Scripting4 || || 304 || Scripting5 || || 305 || Scripting6 || || 306 || Scripting7 || || 307 || Scripting8 || == RCMAP_ Parameters == === Roll channel (RCMAP_ROLL) === _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._ * Range: 1 8 * Increment: 1 * !RebootRequired: True === Pitch channel (RCMAP_PITCH) === _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._ * Range: 1 8 * Increment: 1 * !RebootRequired: True === Throttle channel (RCMAP_THROTTLE) === _Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended. Reboot is required for changes to take effect._ * Range: 1 8 * Increment: 1 * !RebootRequired: True === Yaw channel (RCMAP_YAW) === _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._ * Range: 1 8 * Increment: 1 * !RebootRequired: True === Forward channel (RCMAP_FORWARD) === _Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect._ * Range: 1 8 * Values || *Value* || *Meaning* || || 1 || 1 || || 2 || 2 || || 3 || 3 || || 4 || 4 || || 5 || 5 || || 6 || 6 || || 7 || 7 || || 8 || 8 || * Increment: 1 * !RebootRequired: True === Lateral channel (RCMAP_LATERAL) === _Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect._ * Range: 1 8 * Values || *Value* || *Meaning* || || 1 || 1 || || 2 || 2 || || 3 || 3 || || 4 || 4 || || 5 || 5 || || 6 || 6 || || 7 || 7 || || 8 || 8 || * Increment: 1 * !RebootRequired: True == RELAY_ Parameters == === First Relay Pin (RELAY_PIN) === _Digital pin number for first relay control. This is the pin used for camera control._ * Values || *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 || || 27 || BBBMini Pin P8.17 || === Second Relay Pin (RELAY_PIN2) === _Digital pin number for 2nd relay control._ * Values || *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 || || 65 || BBBMini Pin P8.18 || === Third Relay Pin (RELAY_PIN3) === _Digital pin number for 3rd relay control._ * Values || *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 || || 22 || BBBMini Pin P8.19 || === Fourth Relay Pin (RELAY_PIN4) === _Digital pin number for 4th relay control._ * Values || *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 || || 63 || BBBMini Pin P8.34 || === Default relay state (RELAY_DEFAULT) === _The state of the relay on boot._ * Values || *Value* || *Meaning* || || 0 || Off || || 1 || On || || 2 || !NoChange || === Fifth Relay Pin (RELAY_PIN5) === _Digital pin number for 5th relay control._ * Values || *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 || === Sixth Relay Pin (RELAY_PIN6) === _Digital pin number for 6th relay control._ * Values || *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 || || 37 || BBBMini Pin P8.14 || == RNGFND1_ Parameters == === Rangefinder type (RNGFND1_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFND1_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFND1_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._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFND1_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFND1_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 || === Rangefinder minimum distance (RNGFND1_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFND1_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFND1_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFND1_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFND1_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFND1_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFND1_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFND1_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFND1_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFND1_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFND1_ORIENT) === _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 || === Moving Average Range (RNGFND1_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFND1_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFND1_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFND1_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFND1_WSP_THR) === _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: -1 255 === Baud rate (RNGFND1_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RNGFND2_ Parameters == === Rangefinder type (RNGFND2_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFND2_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFND2_SCALING) === _Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFND2_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFND2_FUNCTION) === _Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)`*`scaling. For a inverted function the distance is (offset-voltage)`*`scaling. For a hyperbolic function the distance is scaling`/`(voltage-offset). The functions return the distance in meters._ * Values || *Value* || *Meaning* || || 0 || Linear || || 1 || Inverted || || 2 || Hyperbolic || === Rangefinder minimum distance (RNGFND2_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFND2_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFND2_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFND2_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFND2_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFND2_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFND2_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFND2_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFND2_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFND2_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFND2_ORIENT) === _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 || === Moving Average Range (RNGFND2_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFND2_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFND2_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFND2_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFND2_WSP_THR) === _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: -1 255 === Baud rate (RNGFND2_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RNGFND3_ Parameters == === Rangefinder type (RNGFND3_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFND3_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFND3_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._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFND3_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFND3_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 || === Rangefinder minimum distance (RNGFND3_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFND3_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFND3_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFND3_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFND3_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFND3_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFND3_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFND3_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFND3_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFND3_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFND3_ORIENT) === _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 || === Moving Average Range (RNGFND3_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFND3_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFND3_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFND3_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFND3_WSP_THR) === _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: -1 255 === Baud rate (RNGFND3_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RNGFND4_ Parameters == === Rangefinder type (RNGFND4_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFND4_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFND4_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._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFND4_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFND4_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 || === Rangefinder minimum distance (RNGFND4_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFND4_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFND4_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFND4_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFND4_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFND4_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFND4_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFND4_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFND4_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFND4_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFND4_ORIENT) === _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 || === Moving Average Range (RNGFND4_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFND4_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFND4_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFND4_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFND4_WSP_THR) === _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: -1 255 === Baud rate (RNGFND4_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RNGFND5_ Parameters == === Rangefinder type (RNGFND5_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFND5_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFND5_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._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFND5_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFND5_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 || === Rangefinder minimum distance (RNGFND5_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFND5_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFND5_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFND5_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFND5_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFND5_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFND5_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFND5_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFND5_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFND5_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFND5_ORIENT) === _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 || === Moving Average Range (RNGFND5_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFND5_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFND5_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFND5_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFND5_WSP_THR) === _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: -1 255 === Baud rate (RNGFND5_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RNGFND6_ Parameters == === Rangefinder type (RNGFND6_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFND6_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFND6_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._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFND6_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFND6_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 || === Rangefinder minimum distance (RNGFND6_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFND6_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFND6_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFND6_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFND6_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFND6_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFND6_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFND6_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFND6_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFND6_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFND6_ORIENT) === _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 || === Moving Average Range (RNGFND6_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFND6_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFND6_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFND6_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFND6_WSP_THR) === _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: -1 255 === Baud rate (RNGFND6_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RNGFND7_ Parameters == === Rangefinder type (RNGFND7_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFND7_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFND7_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._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFND7_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFND7_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 || === Rangefinder minimum distance (RNGFND7_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFND7_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFND7_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFND7_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFND7_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFND7_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFND7_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFND7_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFND7_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFND7_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFND7_ORIENT) === _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 || === Moving Average Range (RNGFND7_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFND7_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFND7_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFND7_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFND7_WSP_THR) === _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: -1 255 === Baud rate (RNGFND7_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RNGFND8_ Parameters == === Rangefinder type (RNGFND8_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFND8_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFND8_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._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFND8_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFND8_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 || === Rangefinder minimum distance (RNGFND8_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFND8_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFND8_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFND8_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFND8_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFND8_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFND8_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFND8_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFND8_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFND8_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFND8_ORIENT) === _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 || === Moving Average Range (RNGFND8_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFND8_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFND8_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFND8_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFND8_WSP_THR) === _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: -1 255 === Baud rate (RNGFND8_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RNGFND9_ Parameters == === Rangefinder type (RNGFND9_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFND9_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFND9_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._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFND9_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFND9_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 || === Rangefinder minimum distance (RNGFND9_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFND9_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFND9_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFND9_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFND9_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFND9_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFND9_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFND9_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFND9_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFND9_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFND9_ORIENT) === _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 || === Moving Average Range (RNGFND9_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFND9_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFND9_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFND9_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFND9_WSP_THR) === _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: -1 255 === Baud rate (RNGFND9_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RNGFNDA_ Parameters == === Rangefinder type (RNGFNDA_TYPE) === _What type of rangefinder device that is connected_ * 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 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X or VL53L1X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || Benewake-Serial || || 21 || !LidarLightV3HP || || 22 || PWM || || 23 || !BlueRoboticsPing || || 24 || UAVCAN || || 25 || !BenewakeTFminiPlus-I2C || || 26 || !LanbaoPSK-CM8JL65-CC5 || || 27 || !BenewakeTF03 || || 28 || VL53L1X-ShortRange || || 29 || !LeddarVu8-Serial || || 30 || HC-SR04 || || 31 || GYUS42v2 || || 32 || MSP || || 33 || USD1_CAN || || 100 || SITL || === Rangefinder pin (RNGFNDA_PIN) === _Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input_ * Values || *Value* || *Meaning* || || -1 || Not Used || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || === Rangefinder scaling (RNGFNDA_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._ * Increment: 0.001 * Units: meters per volt === rangefinder offset (RNGFNDA_OFFSET) === _Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars_ * Increment: 0.001 * Units: volt === Rangefinder function (RNGFNDA_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 || === Rangefinder minimum distance (RNGFNDA_MIN_CM) === _Minimum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder maximum distance (RNGFNDA_MAX_CM) === _Maximum distance in centimeters that rangefinder can reliably read_ * Increment: 1 * Units: centimeters === Rangefinder stop pin (RNGFNDA_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._ * Values || *Value* || *Meaning* || || -1 || Not Used || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2 || === Ratiometric (RNGFNDA_RMETRIC) === _This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF`/`02) have their own internal voltage regulators so they are not ratiometric._ * Values || *Value* || *Meaning* || || 0 || No || || 1 || Yes || === Powersave range (RNGFNDA_PWRRNG) === _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: 0 32767 * Units: meters === Distance (in cm) from the range finder to the ground (RNGFNDA_GNDCLEAR) === _This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground._ * Range: 5 127 * Increment: 1 * Units: centimeters === Bus address of sensor (RNGFNDA_ADDR) === _This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses._ * Range: 0 127 * Increment: 1 === X position offset (RNGFNDA_POS_X) === _X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Y position offset (RNGFNDA_POS_Y) === _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._ * Range: -5 5 * Increment: 0.01 * Units: meters === Z position offset (RNGFNDA_POS_Z) === _Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied._ * Range: -5 5 * Increment: 0.01 * Units: meters === Rangefinder orientation (RNGFNDA_ORIENT) === _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 || === Moving Average Range (RNGFNDA_WSP_MAVG) === _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: 0 255 === Moving Median Filter (RNGFNDA_WSP_MEDF) === _Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active_ * Range: 0 255 === Frequency (RNGFNDA_WSP_FRQ) === _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 10000 === Multi-pulse averages (RNGFNDA_WSP_AVG) === _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: 0 255 === Sensitivity threshold (RNGFNDA_WSP_THR) === _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: -1 255 === Baud rate (RNGFNDA_WSP_BAUD) === _Desired baud rate_ * Values || *Value* || *Meaning* || || 0 || Low Speed || || 1 || High Speed || == RPM Parameters == === RPM type (RPM_TYPE) === _What type of RPM sensor is connected_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || PWM || || 2 || AUXPIN || || 3 || EFI || || 4 || Harmonic Notch || === RPM scaling (RPM_SCALING) === _Scaling factor between sensor reading and RPM._ * Increment: 0.001 === Maximum RPM (RPM_MAX) === _Maximum RPM to report_ * Increment: 1 === Minimum RPM (RPM_MIN) === _Minimum RPM to report_ * Increment: 1 === Minimum Quality (RPM_MIN_QUAL) === _Minimum data quality to be used_ * Increment: 0.1 === Input pin number (RPM_PIN) === _Which pin to use_ * Values || *Value* || *Meaning* || || -1 || Disabled || || 50 || !PixhawkAUX1 || || 51 || !PixhawkAUX2 || || 52 || !PixhawkAUX3 || || 53 || !PixhawkAUX4 || || 54 || !PixhawkAUX5 || || 55 || !PixhawkAUX6 || === Second RPM type (RPM2_TYPE) === _What type of RPM sensor is connected_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || PWM || || 2 || AUXPIN || || 3 || EFI || || 4 || Harmonic Notch || === RPM scaling (RPM2_SCALING) === _Scaling factor between sensor reading and RPM._ * Increment: 0.001 === RPM2 input pin number (RPM2_PIN) === _Which pin to use_ * Values || *Value* || *Meaning* || || -1 || Disabled || || 50 || !PixhawkAUX1 || || 51 || !PixhawkAUX2 || || 52 || !PixhawkAUX3 || || 53 || !PixhawkAUX4 || || 54 || !PixhawkAUX5 || || 55 || !PixhawkAUX6 || == SCHED_ Parameters == === Scheduler debug level (SCHED_DEBUG) === _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 || === Scheduling main loop rate (SCHED_LOOP_RATE) === _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._ * Values || *Value* || *Meaning* || || 50 || 50Hz || || 100 || 100Hz || || 200 || 200Hz || || 250 || 250Hz || || 300 || 300Hz || || 400 || 400Hz || * !RebootRequired: True === Scheduling options (SCHED_OPTIONS) === _This controls optional aspects of the scheduler._ * Bitmask: 0:Enable per-task perf info == SCR_ Parameters == === Enable Scripting (SCR_ENABLE) === _Controls if scripting is enabled_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || Lua Scripts || * !RebootRequired: True === Scripting Virtual Machine Instruction Count (SCR_VM_I_COUNT) === _The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time_ * Range: 1000 1000000 * Increment: 10000 === Scripting Heap Size (SCR_HEAP_SIZE) === _Amount of memory available for scripting_ * Range: 1024 1048576 * Increment: 1024 * !RebootRequired: True === Scripting Debug Level (SCR_DEBUG_LVL) === _The higher the number the more verbose builtin scripting debug will be._ === Scripting User Parameter1 (SCR_USER1) === _General purpose user variable input for scripts_ === Scripting User Parameter2 (SCR_USER2) === _General purpose user variable input for scripts_ === Scripting User Parameter3 (SCR_USER3) === _General purpose user variable input for scripts_ === Scripting User Parameter4 (SCR_USER4) === _General purpose user variable input for scripts_ === Directory disable (SCR_DIR_DISABLE) === _This will stop scripts being loaded from the given locations_ * Bitmask: 0:ROMFS, 1:APM`/`scripts * !RebootRequired: True == SERIAL Parameters == === Serial0 baud rate (SERIAL0_BAUD) === _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._ * Values || *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 || 1500000 || === Console protocol selection (SERIAL0_PROTOCOL) === _Control what protocol to use on the console. _ * Values || *Value* || *Meaning* || || 1 || MAVlink1 || || 2 || MAVLink2 || * !RebootRequired: True === Telem1 protocol selection (SERIAL1_PROTOCOL) === _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 || SToRM32 Gimbal Serial || || 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 || !MegaSquirt EFI || || 25 || LTM || || 26 || !RunCam || || 27 || !HottTelem || || 28 || Scripting || || 29 || Crossfire || || 30 || Generator || || 31 || Winch || || 32 || MSP || || 33 || DJI FPV || || 34 || !AirSpeed || || 35 || ADSB || || 36 || AHRS || * !RebootRequired: True === Telem1 Baud Rate (SERIAL1_BAUD) === _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._ * Values || *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 || 1500000 || === Telemetry 2 protocol selection (SERIAL2_PROTOCOL) === _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 || SToRM32 Gimbal Serial || || 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 || !MegaSquirt EFI || || 25 || LTM || || 26 || !RunCam || || 27 || !HottTelem || || 28 || Scripting || || 29 || Crossfire || || 30 || Generator || || 31 || Winch || || 32 || MSP || || 33 || DJI FPV || || 34 || !AirSpeed || || 35 || ADSB || || 36 || AHRS || * !RebootRequired: True === Telemetry 2 Baud Rate (SERIAL2_BAUD) === _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._ * Values || *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 || 1500000 || === Serial 3 (GPS) protocol selection (SERIAL3_PROTOCOL) === _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 || SToRM32 Gimbal Serial || || 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 || !MegaSquirt EFI || || 25 || LTM || || 26 || !RunCam || || 27 || !HottTelem || || 28 || Scripting || || 29 || Crossfire || || 30 || Generator || || 31 || Winch || || 32 || MSP || || 33 || DJI FPV || || 34 || !AirSpeed || || 35 || ADSB || || 36 || AHRS || * !RebootRequired: True === Serial 3 (GPS) Baud Rate (SERIAL3_BAUD) === _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._ * Values || *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 || 1500000 || === Serial4 protocol selection (SERIAL4_PROTOCOL) === _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 || SToRM32 Gimbal Serial || || 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 || !MegaSquirt EFI || || 25 || LTM || || 26 || !RunCam || || 27 || !HottTelem || || 28 || Scripting || || 29 || Crossfire || || 30 || Generator || || 31 || Winch || || 32 || MSP || || 33 || DJI FPV || || 34 || !AirSpeed || || 35 || ADSB || || 36 || AHRS || * !RebootRequired: True === Serial 4 Baud Rate (SERIAL4_BAUD) === _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._ * Values || *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 || 1500000 || === Serial5 protocol selection (SERIAL5_PROTOCOL) === _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 || SToRM32 Gimbal Serial || || 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 || !MegaSquirt EFI || || 25 || LTM || || 26 || !RunCam || || 27 || !HottTelem || || 28 || Scripting || || 29 || Crossfire || || 30 || Generator || || 31 || Winch || || 32 || MSP || || 33 || DJI FPV || || 34 || !AirSpeed || || 35 || ADSB || || 36 || AHRS || * !RebootRequired: True === Serial 5 Baud Rate (SERIAL5_BAUD) === _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._ * Values || *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 || 1500000 || === Serial6 protocol selection (SERIAL6_PROTOCOL) === _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 || SToRM32 Gimbal Serial || || 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 || !MegaSquirt EFI || || 25 || LTM || || 26 || !RunCam || || 27 || !HottTelem || || 28 || Scripting || || 29 || Crossfire || || 30 || Generator || || 31 || Winch || || 32 || MSP || || 33 || DJI FPV || || 34 || !AirSpeed || || 35 || ADSB || || 36 || AHRS || * !RebootRequired: True === Serial 6 Baud Rate (SERIAL6_BAUD) === _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._ * Values || *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 || 1500000 || === Telem1 options (SERIAL1_OPTIONS) === _Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards._ * Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 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 * !RebootRequired: True === Telem2 options (SERIAL2_OPTIONS) === _Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire._ * Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 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 * !RebootRequired: True === Serial3 options (SERIAL3_OPTIONS) === _Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire._ * Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 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 * !RebootRequired: True === Serial4 options (SERIAL4_OPTIONS) === _Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire._ * Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 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 * !RebootRequired: True === Serial5 options (SERIAL5_OPTIONS) === _Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire._ * Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 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 * !RebootRequired: True === Serial6 options (SERIAL6_OPTIONS) === _Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire._ * Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 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 * !RebootRequired: True === Serial passthru first port (SERIAL_PASS1) === _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 passthru second port (SERIAL_PASS2) === _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 passthru timeout (SERIAL_PASSTIMO) === _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._ * Range: 0 120 * Units: seconds === Serial7 protocol selection (SERIAL7_PROTOCOL) === _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 || SToRM32 Gimbal Serial || || 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 || !MegaSquirt EFI || || 25 || LTM || || 26 || !RunCam || || 27 || !HottTelem || || 28 || Scripting || || 29 || Crossfire || || 30 || Generator || || 31 || Winch || || 32 || MSP || || 33 || DJI FPV || || 34 || !AirSpeed || || 35 || ADSB || || 36 || AHRS || * !RebootRequired: True === Serial 7 Baud Rate (SERIAL7_BAUD) === _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._ * Values || *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 || 1500000 || === Serial7 options (SERIAL7_OPTIONS) === _Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire._ * Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 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 * !RebootRequired: True === Serial8 protocol selection (SERIAL8_PROTOCOL) === _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 || SToRM32 Gimbal Serial || || 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 || !MegaSquirt EFI || || 25 || LTM || || 26 || !RunCam || || 27 || !HottTelem || || 28 || Scripting || || 29 || Crossfire || || 30 || Generator || || 31 || Winch || || 32 || MSP || || 33 || DJI FPV || || 34 || !AirSpeed || || 35 || ADSB || || 36 || AHRS || * !RebootRequired: True === Serial 8 Baud Rate (SERIAL8_BAUD) === _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._ * Values || *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 || 1500000 || === Serial8 options (SERIAL8_OPTIONS) === _Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire._ * Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 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 * !RebootRequired: True == SERVO Parameters == === Servo default output rate (SERVO_RATE) === _This sets the default output rate in Hz for all outputs._ * Range: 25 400 * Units: hertz === Servo DShot output rate (SERVO_DSHOT_RATE) === _This sets the 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 || == SERVO10_ Parameters == === Minimum PWM (SERVO10_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO10_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO10_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO10_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO10_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO11_ Parameters == === Minimum PWM (SERVO11_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO11_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO11_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO11_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO11_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO12_ Parameters == === Minimum PWM (SERVO12_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO12_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO12_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO12_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO12_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO13_ Parameters == === Minimum PWM (SERVO13_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO13_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO13_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO13_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO13_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO14_ Parameters == === Minimum PWM (SERVO14_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO14_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO14_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO14_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO14_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO15_ Parameters == === Minimum PWM (SERVO15_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO15_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO15_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO15_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO15_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO16_ Parameters == === Minimum PWM (SERVO16_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO16_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO16_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO16_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO16_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO1_ Parameters == === Minimum PWM (SERVO1_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO1_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO1_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO1_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO1_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO2_ Parameters == === Minimum PWM (SERVO2_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO2_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO2_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO2_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO2_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO3_ Parameters == === Minimum PWM (SERVO3_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO3_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO3_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO3_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO3_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO4_ Parameters == === Minimum PWM (SERVO4_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO4_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO4_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO4_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO4_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO5_ Parameters == === Minimum PWM (SERVO5_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO5_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO5_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO5_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO5_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO6_ Parameters == === Minimum PWM (SERVO6_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO6_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO6_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO6_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO6_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO7_ Parameters == === Minimum PWM (SERVO7_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO7_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO7_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO7_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO7_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO8_ Parameters == === Minimum PWM (SERVO8_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO8_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO8_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO8_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO8_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO9_ Parameters == === Minimum PWM (SERVO9_MIN) === _minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 500 2200 * Increment: 1 * Units: PWM in microseconds === Maximum PWM (SERVO9_MAX) === _maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Trim PWM (SERVO9_TRIM) === _Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit._ * Range: 800 2200 * Increment: 1 * Units: PWM in microseconds === Servo reverse (SERVO9_REVERSED) === _Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel._ * Values || *Value* || *Meaning* || || 0 || Normal || || 1 || Reversed || === Servo output function (SERVO9_FUNCTION) === _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* || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 19 || Elevator || || 21 || Rudder || || 22 || !SprayerPump || || 23 || !SprayerSpinner || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || Gripper || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliRSC || || 32 || !HeliTailRSC || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !TiltMotorsFront || || 45 || !TiltMotorsRear || || 46 || !TiltMotorRearLeft || || 47 || !TiltMotorRearRight || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || !TiltMotorFrontLeft || || 76 || !TiltMotorFrontRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 88 || Winch || || 89 || Main Sail || || 90 || !CameraISO || || 91 || !CameraAperture || || 92 || !CameraFocus || || 93 || !CameraShutterSpeed || || 94 || Script 1 || || 95 || Script 2 || || 96 || Script 3 || || 97 || Script 4 || || 98 || Script 5 || || 99 || Script 6 || || 100 || Script 7 || || 101 || Script 8 || || 102 || Script 9 || || 103 || Script 10 || || 104 || Script 11 || || 105 || Script 12 || || 106 || Script 13 || || 107 || Script 14 || || 108 || Script 15 || || 109 || Script 16 || || 120 || !NeoPixel1 || || 121 || !NeoPixel2 || || 122 || !NeoPixel3 || || 123 || !NeoPixel4 || || 124 || !RateRoll || || 125 || !RatePitch || || 126 || !RateThrust || || 127 || !RateYaw || || 128 || Wing Sail Elevator || || 129 || !ProfiLED 1 || || 130 || !ProfiLED 2 || || 131 || !ProfiLED 3 || || 132 || !ProfiLED Clock || || 133 || Winch Clutch || == SERVO_BLH_ Parameters == === BLHeli Channel Bitmask (SERVO_BLH_MASK) === _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: 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 === BLHeli auto-enable for multicopter motors (SERVO_BLH_AUTO) === _If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors_ * Values || *Value* || *Meaning* || || 0 || Disabled || || 1 || Enabled || === BLHeli internal interface test (SERVO_BLH_TEST) === _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 || === BLHeli protocol timeout (SERVO_BLH_TMOUT) === _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: 0 300 * Units: seconds === BLHeli telemetry rate (SERVO_BLH_TRATE) === _This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests_ * Range: 0 500 * Units: hertz === BLHeli debug level (SERVO_BLH_DEBUG) === _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 || === BLHeli output type override (SERVO_BLH_OTYPE) === _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 || === Control port (SERVO_BLH_PORT) === _This sets the serial port to use for blheli pass-thru_ * Values || *Value* || *Meaning* || || 0 || Console || || 1 || Serial1 || || 2 || Serial2 || || 3 || Serial3 || || 4 || Serial4 || || 5 || Serial5 || === BLHeli Motor Poles (SERVO_BLH_POLES) === _This allows calculation of true RPM from ESC's eRPM. The default is 14._ * Range: 1 127 === BLHeli bitmask of reversible channels (SERVO_BLH_REMASK) === _Mask of channels which are reversible. This is used for ESCs which have been configured in '3D' mode, allowing for the motor to spin in either direction_ * Bitmask: 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 === BLHeli bitmask of bi-directional dshot channels (SERVO_BLH_BDMASK) === _Mask of channels which support bi-directional dshot. 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: 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 == SERVO_ROB_ Parameters == === Robotis servo position min (SERVO_ROB_POSMIN) === _Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095_ * Range: 0 4095 === Robotis servo position max (SERVO_ROB_POSMAX) === _Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095_ * Range: 0 4095 == SERVO_SBUS_ Parameters == === SBUS default output rate (SERVO_SBUS_RATE) === _This sets the SBUS output frame rate in Hz._ * Range: 25 250 * Units: hertz == SERVO_VOLZ_ Parameters == === Channel Bitmask (SERVO_VOLZ_MASK) === _Enable of volz servo protocol to specific channels_ * Bitmask: 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 == SR0_ Parameters == === Raw sensor stream rate (SR0_RAW_SENS) === _Stream rate of RAW`_`IMU, SCALED`_`IMU2, SCALED`_`PRESSURE, and SENSOR`_`OFFSETS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extended status stream rate to ground station (SR0_EXT_STAT) === _Stream rate of SYS`_`STATUS, MEMINFO, MISSION`_`CURRENT, GPS`_`RAW`_`INT, NAV`_`CONTROLLER`_`OUTPUT, and LIMITS`_`STATUS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === RC Channel stream rate to ground station (SR0_RC_CHAN) === _Stream rate of SERVO`_`OUTPUT`_`RAW and RC`_`CHANNELS`_`RAW to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Position stream rate to ground station (SR0_POSITION) === _Stream rate of GLOBAL`_`POSITION`_`INT to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 1 stream rate to ground station (SR0_EXTRA1) === _Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 2 stream rate to ground station (SR0_EXTRA2) === _Stream rate of VFR`_`HUD to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 3 stream rate to ground station (SR0_EXTRA3) === _Stream rate of AHRS, HWSTATUS, and SYSTEM`_`TIME to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Parameter stream rate to ground station (SR0_PARAMS) === _Stream rate of PARAM`_`VALUE to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz == SR1_ Parameters == === Raw sensor stream rate (SR1_RAW_SENS) === _Stream rate of RAW`_`IMU, SCALED`_`IMU2, SCALED`_`PRESSURE, and SENSOR`_`OFFSETS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extended status stream rate to ground station (SR1_EXT_STAT) === _Stream rate of SYS`_`STATUS, MEMINFO, MISSION`_`CURRENT, GPS`_`RAW`_`INT, NAV`_`CONTROLLER`_`OUTPUT, and LIMITS`_`STATUS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === RC Channel stream rate to ground station (SR1_RC_CHAN) === _Stream rate of SERVO`_`OUTPUT`_`RAW and RC`_`CHANNELS`_`RAW to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Position stream rate to ground station (SR1_POSITION) === _Stream rate of GLOBAL`_`POSITION`_`INT to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 1 stream rate to ground station (SR1_EXTRA1) === _Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 2 stream rate to ground station (SR1_EXTRA2) === _Stream rate of VFR`_`HUD to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 3 stream rate to ground station (SR1_EXTRA3) === _Stream rate of AHRS, HWSTATUS, and SYSTEM`_`TIME to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Parameter stream rate to ground station (SR1_PARAMS) === _Stream rate of PARAM`_`VALUE to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz == SR2_ Parameters == === Raw sensor stream rate (SR2_RAW_SENS) === _Stream rate of RAW`_`IMU, SCALED`_`IMU2, SCALED`_`PRESSURE, and SENSOR`_`OFFSETS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extended status stream rate to ground station (SR2_EXT_STAT) === _Stream rate of SYS`_`STATUS, MEMINFO, MISSION`_`CURRENT, GPS`_`RAW`_`INT, NAV`_`CONTROLLER`_`OUTPUT, and LIMITS`_`STATUS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === RC Channel stream rate to ground station (SR2_RC_CHAN) === _Stream rate of SERVO`_`OUTPUT`_`RAW and RC`_`CHANNELS`_`RAW to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Position stream rate to ground station (SR2_POSITION) === _Stream rate of GLOBAL`_`POSITION`_`INT to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 1 stream rate to ground station (SR2_EXTRA1) === _Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 2 stream rate to ground station (SR2_EXTRA2) === _Stream rate of VFR`_`HUD to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 3 stream rate to ground station (SR2_EXTRA3) === _Stream rate of AHRS, HWSTATUS, and SYSTEM`_`TIME to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Parameter stream rate to ground station (SR2_PARAMS) === _Stream rate of PARAM`_`VALUE to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz == SR3_ Parameters == === Raw sensor stream rate (SR3_RAW_SENS) === _Stream rate of RAW`_`IMU, SCALED`_`IMU2, SCALED`_`PRESSURE, and SENSOR`_`OFFSETS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extended status stream rate to ground station (SR3_EXT_STAT) === _Stream rate of SYS`_`STATUS, MEMINFO, MISSION`_`CURRENT, GPS`_`RAW`_`INT, NAV`_`CONTROLLER`_`OUTPUT, and LIMITS`_`STATUS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === RC Channel stream rate to ground station (SR3_RC_CHAN) === _Stream rate of SERVO`_`OUTPUT`_`RAW and RC`_`CHANNELS`_`RAW to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Position stream rate to ground station (SR3_POSITION) === _Stream rate of GLOBAL`_`POSITION`_`INT to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 1 stream rate to ground station (SR3_EXTRA1) === _Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 2 stream rate to ground station (SR3_EXTRA2) === _Stream rate of VFR`_`HUD to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 3 stream rate to ground station (SR3_EXTRA3) === _Stream rate of AHRS, HWSTATUS, and SYSTEM`_`TIME to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Parameter stream rate to ground station (SR3_PARAMS) === _Stream rate of PARAM`_`VALUE to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz == SR4_ Parameters == === Raw sensor stream rate (SR4_RAW_SENS) === _Stream rate of RAW`_`IMU, SCALED`_`IMU2, SCALED`_`PRESSURE, and SENSOR`_`OFFSETS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extended status stream rate to ground station (SR4_EXT_STAT) === _Stream rate of SYS`_`STATUS, MEMINFO, MISSION`_`CURRENT, GPS`_`RAW`_`INT, NAV`_`CONTROLLER`_`OUTPUT, and LIMITS`_`STATUS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === RC Channel stream rate to ground station (SR4_RC_CHAN) === _Stream rate of SERVO`_`OUTPUT`_`RAW and RC`_`CHANNELS`_`RAW to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Position stream rate to ground station (SR4_POSITION) === _Stream rate of GLOBAL`_`POSITION`_`INT to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 1 stream rate to ground station (SR4_EXTRA1) === _Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 2 stream rate to ground station (SR4_EXTRA2) === _Stream rate of VFR`_`HUD to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 3 stream rate to ground station (SR4_EXTRA3) === _Stream rate of AHRS, HWSTATUS, and SYSTEM`_`TIME to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Parameter stream rate to ground station (SR4_PARAMS) === _Stream rate of PARAM`_`VALUE to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz == SR5_ Parameters == === Raw sensor stream rate (SR5_RAW_SENS) === _Stream rate of RAW`_`IMU, SCALED`_`IMU2, SCALED`_`PRESSURE, and SENSOR`_`OFFSETS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extended status stream rate to ground station (SR5_EXT_STAT) === _Stream rate of SYS`_`STATUS, MEMINFO, MISSION`_`CURRENT, GPS`_`RAW`_`INT, NAV`_`CONTROLLER`_`OUTPUT, and LIMITS`_`STATUS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === RC Channel stream rate to ground station (SR5_RC_CHAN) === _Stream rate of SERVO`_`OUTPUT`_`RAW and RC`_`CHANNELS`_`RAW to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Position stream rate to ground station (SR5_POSITION) === _Stream rate of GLOBAL`_`POSITION`_`INT to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 1 stream rate to ground station (SR5_EXTRA1) === _Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 2 stream rate to ground station (SR5_EXTRA2) === _Stream rate of VFR`_`HUD to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 3 stream rate to ground station (SR5_EXTRA3) === _Stream rate of AHRS, HWSTATUS, and SYSTEM`_`TIME to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Parameter stream rate to ground station (SR5_PARAMS) === _Stream rate of PARAM`_`VALUE to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz == SR6_ Parameters == === Raw sensor stream rate (SR6_RAW_SENS) === _Stream rate of RAW`_`IMU, SCALED`_`IMU2, SCALED`_`PRESSURE, and SENSOR`_`OFFSETS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extended status stream rate to ground station (SR6_EXT_STAT) === _Stream rate of SYS`_`STATUS, MEMINFO, MISSION`_`CURRENT, GPS`_`RAW`_`INT, NAV`_`CONTROLLER`_`OUTPUT, and LIMITS`_`STATUS to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === RC Channel stream rate to ground station (SR6_RC_CHAN) === _Stream rate of SERVO`_`OUTPUT`_`RAW and RC`_`CHANNELS`_`RAW to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Position stream rate to ground station (SR6_POSITION) === _Stream rate of GLOBAL`_`POSITION`_`INT to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 1 stream rate to ground station (SR6_EXTRA1) === _Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 2 stream rate to ground station (SR6_EXTRA2) === _Stream rate of VFR`_`HUD to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Extra data type 3 stream rate to ground station (SR6_EXTRA3) === _Stream rate of AHRS, HWSTATUS, and SYSTEM`_`TIME to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz === Parameter stream rate to ground station (SR6_PARAMS) === _Stream rate of PARAM`_`VALUE to ground station_ * Range: 0 50 * Increment: 1 * Units: hertz == TERRAIN_ Parameters == === Terrain data enable (TERRAIN_ENABLE) === _enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN`_`REQUEST messages and have access to a terrain database, such as the SRTM database._ * Values || *Value* || *Meaning* || || 0 || Disable || || 1 || Enable || === Terrain grid spacing (TERRAIN_SPACING) === _Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the 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: 1 * Units: meters === Terrain options (TERRAIN_OPTIONS) === _Options to change behaviour of terrain system_ * Bitmask: 0:Disable Download == VISO Parameters == === Visual odometry camera connection type (VISO_TYPE) === _Visual odometry camera connection type_ * Values || *Value* || *Meaning* || || 0 || None || || 1 || MAVLink || || 2 || !IntelT265 || * !RebootRequired: True === Visual odometry camera X position offset (VISO_POS_X) === _X position of the camera in body frame. Positive X is forward of the origin._ * Range: -5 5 * Increment: 0.01 * Units: meters === Visual odometry camera Y position offset (VISO_POS_Y) === _Y position of the camera in body frame. Positive Y is to the right of the origin._ * Range: -5 5 * Increment: 0.01 * Units: meters === Visual odometry camera Z position offset (VISO_POS_Z) === _Z position of the camera in body frame. Positive Z is down from the origin._ * Range: -5 5 * Increment: 0.01 * Units: meters === Visual odometery camera orientation (VISO_ORIENT) === _Visual odometery camera orientation_ * Values || *Value* || *Meaning* || || 0 || Forward || || 2 || Right || || 4 || Back || || 6 || Left || || 24 || Up || || 25 || Down || === Visual odometry scaling factor (VISO_SCALE) === _Visual odometry scaling factor applied to position estimates from sensor_ === Visual odometry sensor delay (VISO_DELAY_MS) === _Visual odometry sensor delay relative to inertial measurements_ * Range: 0 250 * Units: milliseconds === Visual odometry velocity measurement noise (VISO_VEL_M_NSE) === _Visual odometry velocity measurement noise in m`/`s_ * Range: 0.05 5.0 * Units: meters per second === Visual odometry position measurement noise (VISO_POS_M_NSE) === _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: 0.1 10.0 * Units: meters === Visual odometry yaw measurement noise (VISO_YAW_M_NSE) === _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: 0.05 1.0 * Units: radians == VTX_ Parameters == === Is the Video Transmitter enabled or not (VTX_ENABLE) === _Toggles the Video Transmitter on and off_ * Values || *Value* || *Meaning* || || 0 || Disable || || 1 || Enable || === Video Transmitter Power Level (VTX_POWER) === _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 1000 === Video Transmitter Channel (VTX_CHANNEL) === _Video Transmitter Channel_ * Range: 0 7 === Video Transmitter Band (VTX_BAND) === _Video Transmitter Band_ * Values || *Value* || *Meaning* || || 0 || Band A || || 1 || Band B || || 2 || Band E || || 3 || Airwave || || 4 || !RaceBand || || 5 || Low RaceBand || === Video Transmitter Frequency (VTX_FREQ) === _Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL_ * Range: 5000 6000 * !ReadOnly: True === Video Transmitter Options (VTX_OPTIONS) === _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._ * Bitmask: 0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked === Video Transmitter Max Power Level (VTX_MAX_POWER) === _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 1000 == WPNAV_ Parameters == === Waypoint Horizontal Speed Target (WPNAV_SPEED) === _Defines the speed in cm`/`s which the aircraft will attempt to maintain horizontally during a WP mission_ * Range: 20 2000 * Increment: 50 * Units: centimeters per second === Waypoint Radius (WPNAV_RADIUS) === _Defines the distance from a waypoint, that when crossed indicates the wp has been hit._ * Range: 5 1000 * Increment: 1 * Units: centimeters === Waypoint Climb Speed Target (WPNAV_SPEED_UP) === _Defines the speed in cm`/`s which the aircraft will attempt to maintain while climbing during a WP mission_ * Range: 10 1000 * Increment: 50 * Units: centimeters per second === Waypoint Descent Speed Target (WPNAV_SPEED_DN) === _Defines the speed in cm`/`s which the aircraft will attempt to maintain while descending during a WP mission_ * Range: 10 500 * Increment: 10 * Units: centimeters per second === Waypoint Acceleration (WPNAV_ACCEL) === _Defines the horizontal acceleration in cm`/`s`/`s used during missions_ * Range: 50 500 * Increment: 10 * Units: centimeters per square second === Waypoint Vertical Acceleration (WPNAV_ACCEL_Z) === _Defines the vertical acceleration in cm`/`s`/`s used during missions_ * Range: 50 500 * Increment: 10 * Units: centimeters per square second === Waypoint missions use rangefinder for terrain following (WPNAV_RFND_USE) === _This controls if waypoint missions use rangefinder for terrain following_ * Values || *Value* || *Meaning* || || 0 || Disable || || 1 || Enable || === Waypoint Jerk (WPNAV_JERK) === _Defines the horizontal jerk in m`/`s`/`s used during missions_ * Range: 1 20 * Units: meters per square second