.. Dynamically generated list of documented parameters
.. This page was generated using Tools\/autotest\/param\_metadata\/param\_parse\.py

.. DO NOT EDIT


.. _parameters:

Complete Parameter List
=======================

This is a complete list of the parameters which can be set \(e\.g\. via the MAVLink protocol\) to control vehicle behaviour\. They are stored in persistent storage on the vehicle\.

This list is automatically generated from the latest ardupilot source code\, and so may contain parameters which are not yet in the stable released versions of the code\.




.. _parameters_Blimp:

Blimp Parameters
----------------


.. _FORMAT_VERSION:

FORMAT\_VERSION: Eeprom format version number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _SYSID_THISMAV:

SYSID\_THISMAV: MAVLink system ID of this vehicle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network


+----------+
| Range    |
+==========+
| 1 to 255 |
+----------+




.. _SYSID_MYGCS:

SYSID\_MYGCS: My ground station number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Allows restricting radio overrides to only come from my ground station


+----------+
| Range    |
+==========+
| 1 to 255 |
+----------+




.. _PILOT_THR_FILT:

PILOT\_THR\_FILT: Throttle filter cutoff
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Throttle filter cutoff \(Hz\) \- active whenever altitude control is inactive \- 0 to disable


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| .5        | 0 to 10 | hertz |
+-----------+---------+-------+




.. _PILOT_TKOFF_ALT:

PILOT\_TKOFF\_ALT: Pilot takeoff altitude
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick\.


+-----------+---------------+-------------+
| Increment | Range         | Units       |
+===========+===============+=============+
| 10        | 0.0 to 1000.0 | centimeters |
+-----------+---------------+-------------+




.. _PILOT_THR_BHV:

PILOT\_THR\_BHV: Throttle stick behavior
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Bitmask containing various throttle stick options\. TX with sprung throttle can set PILOT\_THR\_BHV to \"1\" so motor feedback when landed starts from mid\-stick instead of bottom of stick\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 0   | Feedback from mid stick       |
+-----+-------------------------------+
| 1   | High throttle cancels landing |
+-----+-------------------------------+
| 2   | Disarm on land detection      |
+-----+-------------------------------+




+-------+-------------------------------+
| Value | Meaning                       |
+=======+===============================+
| 0     | None                          |
+-------+-------------------------------+
| 1     | Feedback from mid stick       |
+-------+-------------------------------+
| 2     | High throttle cancels landing |
+-------+-------------------------------+
| 4     | Disarm on land detection      |
+-------+-------------------------------+




.. _TELEM_DELAY:

TELEM\_DELAY: Telemetry startup delay
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+---------+---------+
| Increment | Range   | Units   |
+===========+=========+=========+
| 1         | 0 to 30 | seconds |
+-----------+---------+---------+




.. _GCS_PID_MASK:

GCS\_PID\_MASK: GCS PID tuning mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

bitmask of PIDs to send MAVLink PID\_TUNING messages for


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | VELX    |
+-----+---------+
| 1   | VELY    |
+-----+---------+
| 2   | VELZ    |
+-----+---------+
| 3   | VELYAW  |
+-----+---------+
| 4   | POSX    |
+-----+---------+
| 5   | POSY    |
+-----+---------+
| 6   | POZ     |
+-----+---------+
| 7   | POSYAW  |
+-----+---------+




+-------+-----------+
| Value | Meaning   |
+=======+===========+
| 0     | None      |
+-------+-----------+
| 1     | VELX      |
+-------+-----------+
| 2     | VELY      |
+-------+-----------+
| 4     | VELZ      |
+-------+-----------+
| 8     | VELYAW    |
+-------+-----------+
| 16    | POSX      |
+-------+-----------+
| 32    | POSY      |
+-------+-----------+
| 64    | POSZ      |
+-------+-----------+
| 128   | POSYAW    |
+-------+-----------+
| 15    | Vel only  |
+-------+-----------+
| 51    | XY only   |
+-------+-----------+
| 204   | ZYaw only |
+-------+-----------+
| 240   | Pos only  |
+-------+-----------+
| 255   | All       |
+-------+-----------+




.. _FS_GCS_ENABLE:

FS\_GCS\_ENABLE: Ground Station Failsafe Enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Controls whether failsafe will be invoked \(and what action to take\) when connection with Ground station is lost for at least 5 seconds\. See FS\_OPTIONS param for additional actions\, or for cases allowing Mission continuation\, when GCS failsafe is enabled\.


+-------+-------------------+
| Value | Meaning           |
+=======+===================+
| 0     | Disabled/NoAction |
+-------+-------------------+
| 5     | Land              |
+-------+-------------------+




.. _GPS_HDOP_GOOD:

GPS\_HDOP\_GOOD: GPS Hdop Good
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

GPS Hdop value at or below this value represent a good position\.  Used for pre\-arm checks


+------------+
| Range      |
+============+
| 100 to 900 |
+------------+




.. _FS_THR_ENABLE:

FS\_THR\_ENABLE: Throttle Failsafe Enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-------+---------------------+
| Value | Meaning             |
+=======+=====================+
| 0     | Disabled            |
+-------+---------------------+
| 3     | Enabled always Land |
+-------+---------------------+




.. _FS_THR_VALUE:

FS\_THR\_VALUE: Throttle Failsafe Value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The PWM level in microseconds on channel 3 below which throttle failsafe triggers


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 910 to 1100 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _THR_DZ:

THR\_DZ: Throttle deadzone
~~~~~~~~~~~~~~~~~~~~~~~~~~


The deadzone above and below mid throttle in PWM microseconds\. Used in AltHold\, Loiter\, PosHold flight modes


+-----------+----------+---------------------+
| Increment | Range    | Units               |
+===========+==========+=====================+
| 1         | 0 to 300 | PWM in microseconds |
+-----------+----------+---------------------+




.. _FLTMODE1:

FLTMODE1: Flight Mode 1
~~~~~~~~~~~~~~~~~~~~~~~


Flight mode when Channel 5 pwm is \<\= 1230


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | LAND     |
+-------+----------+
| 1     | MANUAL   |
+-------+----------+
| 2     | VELOCITY |
+-------+----------+
| 3     | LOITER   |
+-------+----------+




.. _FLTMODE2:

FLTMODE2: Flight Mode 2
~~~~~~~~~~~~~~~~~~~~~~~


Flight mode when Channel 5 pwm is \>1230\, \<\= 1360


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | LAND     |
+-------+----------+
| 1     | MANUAL   |
+-------+----------+
| 2     | VELOCITY |
+-------+----------+
| 3     | LOITER   |
+-------+----------+




.. _FLTMODE3:

FLTMODE3: Flight Mode 3
~~~~~~~~~~~~~~~~~~~~~~~


Flight mode when Channel 5 pwm is \>1360\, \<\= 1490


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | LAND     |
+-------+----------+
| 1     | MANUAL   |
+-------+----------+
| 2     | VELOCITY |
+-------+----------+
| 3     | LOITER   |
+-------+----------+




.. _FLTMODE4:

FLTMODE4: Flight Mode 4
~~~~~~~~~~~~~~~~~~~~~~~


Flight mode when Channel 5 pwm is \>1490\, \<\= 1620


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | LAND     |
+-------+----------+
| 1     | MANUAL   |
+-------+----------+
| 2     | VELOCITY |
+-------+----------+
| 3     | LOITER   |
+-------+----------+




.. _FLTMODE5:

FLTMODE5: Flight Mode 5
~~~~~~~~~~~~~~~~~~~~~~~


Flight mode when Channel 5 pwm is \>1620\, \<\= 1749


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | LAND     |
+-------+----------+
| 1     | MANUAL   |
+-------+----------+
| 2     | VELOCITY |
+-------+----------+
| 3     | LOITER   |
+-------+----------+




.. _FLTMODE6:

FLTMODE6: Flight Mode 6
~~~~~~~~~~~~~~~~~~~~~~~


Flight mode when Channel 5 pwm is \>\=1750


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | LAND     |
+-------+----------+
| 1     | MANUAL   |
+-------+----------+
| 2     | VELOCITY |
+-------+----------+
| 3     | LOITER   |
+-------+----------+




.. _FLTMODE_CH:

FLTMODE\_CH: Flightmode channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

RC Channel to use for flight mode control


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 5     | Channel5 |
+-------+----------+
| 6     | Channel6 |
+-------+----------+
| 7     | Channel7 |
+-------+----------+
| 8     | Channel8 |
+-------+----------+




.. _INITIAL_MODE:

INITIAL\_MODE: Initial flight mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This selects the mode to start in on boot\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | LAND     |
+-------+----------+
| 1     | MANUAL   |
+-------+----------+
| 2     | VELOCITY |
+-------+----------+
| 3     | LOITER   |
+-------+----------+




.. _LOG_BITMASK:

LOG\_BITMASK: Log bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~


Bitmap of what log types to enable in on\-board logger\. This value is made up of the sum of each of the log types you want to be saved\. On boards supporting microSD cards or other large block\-storage devices it is usually best just to enable all basic log types by setting this to 65535\.


+-----+--------------------+
| Bit | Meaning            |
+=====+====================+
| 0   | Fast Attitude      |
+-----+--------------------+
| 1   | Medium Attitude    |
+-----+--------------------+
| 2   | GPS                |
+-----+--------------------+
| 3   | System Performance |
+-----+--------------------+
| 4   | Control Tuning     |
+-----+--------------------+
| 6   | RC Input           |
+-----+--------------------+
| 7   | IMU                |
+-----+--------------------+
| 9   | Battery Monitor    |
+-----+--------------------+
| 10  | RC Output          |
+-----+--------------------+
| 11  | Optical Flow       |
+-----+--------------------+
| 12  | PID                |
+-----+--------------------+
| 13  | Compass            |
+-----+--------------------+




.. _DISARM_DELAY:

DISARM\_DELAY: Disarm delay
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Delay before automatic disarm in seconds\. A value of zero disables auto disarm\.


+----------+---------+
| Range    | Units   |
+==========+=========+
| 0 to 127 | seconds |
+----------+---------+




.. _FS_EKF_ACTION:

FS\_EKF\_ACTION: EKF Failsafe Action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Controls the action that will be taken when an EKF failsafe is invoked


+-------+---------------------+
| Value | Meaning             |
+=======+=====================+
| 1     | Land                |
+-------+---------------------+
| 3     | Land even in MANUAL |
+-------+---------------------+




.. _FS_EKF_THRESH:

FS\_EKF\_THRESH: EKF failsafe variance threshold
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Allows setting the maximum acceptable compass and velocity variance


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0.6   | Strict  |
+-------+---------+
| 0.8   | Default |
+-------+---------+
| 1.0   | Relaxed |
+-------+---------+




.. _FS_CRASH_CHECK:

FS\_CRASH\_CHECK: Crash check enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This enables automatic crash checking\. When enabled the motors will disarm if a crash is detected\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _MAX_VEL_XY:

MAX\_VEL\_XY: Max XY Velocity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sets the maximum XY velocity\, in m\/s


+----------+
| Range    |
+==========+
| 0.2 to 5 |
+----------+




.. _MAX_VEL_Z:

MAX\_VEL\_Z: Max Z Velocity
~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sets the maximum Z velocity\, in m\/s


+----------+
| Range    |
+==========+
| 0.2 to 5 |
+----------+




.. _MAX_VEL_YAW:

MAX\_VEL\_YAW: Max yaw Velocity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sets the maximum yaw velocity\, in rad\/s


+----------+
| Range    |
+==========+
| 0.2 to 5 |
+----------+




.. _MAX_POS_XY:

MAX\_POS\_XY: Max XY Position change
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sets the maximum XY position change\, in m\/s


+----------+
| Range    |
+==========+
| 0.1 to 5 |
+----------+




.. _MAX_POS_Z:

MAX\_POS\_Z: Max Z Position change
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sets the maximum Z position change\, in m\/s


+----------+
| Range    |
+==========+
| 0.1 to 5 |
+----------+




.. _MAX_POS_YAW:

MAX\_POS\_YAW: Max Yaw Position change
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sets the maximum Yaw position change\, in rad\/s


+----------+
| Range    |
+==========+
| 0.1 to 5 |
+----------+




.. _SIMPLE_MODE:

SIMPLE\_MODE: Simple mode
~~~~~~~~~~~~~~~~~~~~~~~~~


Simple mode for Position control \- \"forward\" moves blimp in \+ve X direction world\-frame


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _DIS_MASK:

DIS\_MASK: Disable output mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Mask for disabling one or more of the 4 output axis in mode Velocity or Loiter


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | Right   |
+-----+---------+
| 1   | Front   |
+-----+---------+
| 2   | Down    |
+-----+---------+
| 3   | Yaw     |
+-----+---------+




+-------+--------------------+
| Value | Meaning            |
+=======+====================+
| 0     | All enabled        |
+-------+--------------------+
| 1     | Right              |
+-------+--------------------+
| 2     | Front              |
+-------+--------------------+
| 4     | Down               |
+-------+--------------------+
| 8     | Yaw                |
+-------+--------------------+
| 3     | Down and Yaw only  |
+-------+--------------------+
| 12    | Front & Right only |
+-------+--------------------+




.. _RC_SPEED:

RC\_SPEED: ESC Update Speed
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the speed in Hertz that your ESCs will receive updates


+-----------+-----------+-------+
| Increment | Range     | Units |
+===========+===========+=======+
| 1         | 50 to 490 | hertz |
+-----------+-----------+-------+




.. _VELXY_P:

VELXY\_P: Velocity \(horizontal\) P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(horizontal\) P gain\.  Converts the difference between desired and actual velocity to a target acceleration


+-----------+------------+
| Increment | Range      |
+===========+============+
| 0.1       | 0.1 to 6.0 |
+-----------+------------+




.. _VELXY_I:

VELXY\_I: Velocity \(horizontal\) I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(horizontal\) I gain\.  Corrects long\-term difference between desired and actual velocity to a target acceleration


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.01      | 0.02 to 1.00 |
+-----------+--------------+




.. _VELXY_D:

VELXY\_D: Velocity \(horizontal\) D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(horizontal\) D gain\.  Corrects short\-term changes in velocity


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.001     | 0.00 to 1.00 |
+-----------+--------------+




.. _VELXY_IMAX:

VELXY\_IMAX: Velocity \(horizontal\) integrator maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(horizontal\) integrator maximum\.  Constrains the target acceleration that the I gain will output


+-----------+-----------+-------------------------------+
| Increment | Range     | Units                         |
+===========+===========+===============================+
| 10        | 0 to 4500 | centimeters per square second |
+-----------+-----------+-------------------------------+




.. _VELXY_FLTE:

VELXY\_FLTE: Velocity \(horizontal\) input filter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(horizontal\) input filter\.  This filter \(in Hz\) is applied to the input for P and I terms


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 100 | hertz |
+----------+-------+




.. _VELXY_FLTD:

VELXY\_FLTD: Velocity \(horizontal\) input filter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(horizontal\) input filter\.  This filter \(in Hz\) is applied to the input for D term


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 100 | hertz |
+----------+-------+




.. _VELXY_FF:

VELXY\_FF: Velocity \(horizontal\) feed forward gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(horizontal\) feed forward gain\.  Converts the difference between desired velocity to a target acceleration


+-----------+--------+
| Increment | Range  |
+===========+========+
| 0.01      | 0 to 6 |
+-----------+--------+




.. _VELZ_P:

VELZ\_P: Velocity \(vertical\) P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(vertical\) P gain\.  Converts the difference between desired and actual velocity to a target acceleration


+-----------+------------+
| Increment | Range      |
+===========+============+
| 0.1       | 0.1 to 6.0 |
+-----------+------------+




.. _VELZ_I:

VELZ\_I: Velocity \(vertical\) I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(vertical\) I gain\.  Corrects long\-term difference between desired and actual velocity to a target acceleration


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.01      | 0.02 to 1.00 |
+-----------+--------------+




.. _VELZ_D:

VELZ\_D: Velocity \(vertical\) D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(vertical\) D gain\.  Corrects short\-term changes in velocity


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.001     | 0.00 to 1.00 |
+-----------+--------------+




.. _VELZ_IMAX:

VELZ\_IMAX: Velocity \(vertical\) integrator maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(vertical\) integrator maximum\.  Constrains the target acceleration that the I gain will output


+-----------+-----------+-------------------------------+
| Increment | Range     | Units                         |
+===========+===========+===============================+
| 10        | 0 to 4500 | centimeters per square second |
+-----------+-----------+-------------------------------+




.. _VELZ_FLTE:

VELZ\_FLTE: Velocity \(vertical\) input filter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(vertical\) input filter\.  This filter \(in Hz\) is applied to the input for P and I terms


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 100 | hertz |
+----------+-------+




.. _VELZ_FLTD:

VELZ\_FLTD: Velocity \(vertical\) input filter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(vertical\) input filter\.  This filter \(in Hz\) is applied to the input for D term


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 100 | hertz |
+----------+-------+




.. _VELZ_FF:

VELZ\_FF: Velocity \(vertical\) feed forward gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(vertical\) feed forward gain\.  Converts the difference between desired velocity to a target acceleration


+-----------+--------+
| Increment | Range  |
+===========+========+
| 0.01      | 0 to 6 |
+-----------+--------+




.. _VELYAW_P:

VELYAW\_P: Velocity \(yaw\) P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(yaw\) P gain\.  Converts the difference between desired and actual velocity to a target acceleration


+-----------+------------+
| Increment | Range      |
+===========+============+
| 0.1       | 0.1 to 6.0 |
+-----------+------------+




.. _VELYAW_I:

VELYAW\_I: Velocity \(yaw\) I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(yaw\) I gain\.  Corrects long\-term difference between desired and actual velocity to a target acceleration


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.01      | 0.02 to 1.00 |
+-----------+--------------+




.. _VELYAW_D:

VELYAW\_D: Velocity \(yaw\) D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(yaw\) D gain\.  Corrects short\-term changes in velocity


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.001     | 0.00 to 1.00 |
+-----------+--------------+




.. _VELYAW_IMAX:

VELYAW\_IMAX: Velocity \(yaw\) integrator maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(yaw\) integrator maximum\.  Constrains the target acceleration that the I gain will output


+-----------+-----------+-------------------------------+
| Increment | Range     | Units                         |
+===========+===========+===============================+
| 10        | 0 to 4500 | centimeters per square second |
+-----------+-----------+-------------------------------+




.. _VELYAW_FLTE:

VELYAW\_FLTE: Velocity \(yaw\) input filter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(yaw\) input filter\.  This filter \(in Hz\) is applied to the input for P and I terms


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 100 | hertz |
+----------+-------+




.. _VELYAW_FF:

VELYAW\_FF: Velocity \(yaw\) feed forward gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity \(yaw\) feed forward gain\.  Converts the difference between desired velocity to a target acceleration


+-----------+--------+
| Increment | Range  |
+===========+========+
| 0.01      | 0 to 6 |
+-----------+--------+




.. _POSXY_P:

POSXY\_P: Position \(horizontal\) P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(horizontal\) P gain\.  Converts the difference between desired and actual position to a target velocity


+-----------+------------+
| Increment | Range      |
+===========+============+
| 0.1       | 0.1 to 6.0 |
+-----------+------------+




.. _POSXY_I:

POSXY\_I: Position \(horizontal\) I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(horizontal\) I gain\.  Corrects long\-term difference between desired and actual position to a target velocity


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.01      | 0.02 to 1.00 |
+-----------+--------------+




.. _POSXY_D:

POSXY\_D: Position \(horizontal\) D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(horizontal\) D gain\.  Corrects short\-term changes in position


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.001     | 0.00 to 1.00 |
+-----------+--------------+




.. _POSXY_IMAX:

POSXY\_IMAX: Position \(horizontal\) integrator maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(horizontal\) integrator maximum\.  Constrains the target acceleration that the I gain will output


+-----------+-----------+-------------------------------+
| Increment | Range     | Units                         |
+===========+===========+===============================+
| 10        | 0 to 4500 | centimeters per square second |
+-----------+-----------+-------------------------------+




.. _POSXY_FLTE:

POSXY\_FLTE: Position \(horizontal\) input filter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(horizontal\) input filter\.  This filter \(in Hz\) is applied to the input for P and I terms


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 100 | hertz |
+----------+-------+




.. _POSXY_FLTD:

POSXY\_FLTD: Position \(horizontal\) input filter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(horizontal\) input filter\.  This filter \(in Hz\) is applied to the input for D term


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 100 | hertz |
+----------+-------+




.. _POSXY_FF:

POSXY\_FF: Position \(horizontal\) feed forward gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(horizontal\) feed forward gain\.  Converts the difference between desired position to a target velocity


+-----------+--------+
| Increment | Range  |
+===========+========+
| 0.01      | 0 to 6 |
+-----------+--------+




.. _POSZ_P:

POSZ\_P: Position \(vertical\) P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(vertical\) P gain\.  Converts the difference between desired and actual position to a target velocity


+-----------+------------+
| Increment | Range      |
+===========+============+
| 0.1       | 0.1 to 6.0 |
+-----------+------------+




.. _POSZ_I:

POSZ\_I: Position \(vertical\) I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(vertical\) I gain\.  Corrects long\-term difference between desired and actual position to a target velocity


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.01      | 0.02 to 1.00 |
+-----------+--------------+




.. _POSZ_D:

POSZ\_D: Position \(vertical\) D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(vertical\) D gain\.  Corrects short\-term changes in position


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.001     | 0.00 to 1.00 |
+-----------+--------------+




.. _POSZ_IMAX:

POSZ\_IMAX: Position \(vertical\) integrator maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(vertical\) integrator maximum\.  Constrains the target acceleration that the I gain will output


+-----------+-----------+-------------------------------+
| Increment | Range     | Units                         |
+===========+===========+===============================+
| 10        | 0 to 4500 | centimeters per square second |
+-----------+-----------+-------------------------------+




.. _POSZ_FLTE:

POSZ\_FLTE: Position \(vertical\) input filter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(vertical\) input filter\.  This filter \(in Hz\) is applied to the input for P and I terms


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 100 | hertz |
+----------+-------+




.. _POSZ_FLTD:

POSZ\_FLTD: Position \(vertical\) input filter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(vertical\) input filter\.  This filter \(in Hz\) is applied to the input for D term


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 100 | hertz |
+----------+-------+




.. _POSZ_FF:

POSZ\_FF: Position \(vertical\) feed forward gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position \(vertical\) feed forward gain\.  Converts the difference between desired position to a target velocity


+-----------+--------+
| Increment | Range  |
+===========+========+
| 0.01      | 0 to 6 |
+-----------+--------+




.. _POSYAW_P:

POSYAW\_P: Position \(yaw\) axis controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position \(yaw\) axis controller P gain\.


+-----------+------------+
| Increment | Range      |
+===========+============+
| 0.01      | 0.0 to 3.0 |
+-----------+------------+




.. _POSYAW_I:

POSYAW\_I: Position \(yaw\) axis controller I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position \(yaw\) axis controller I gain\.


+-----------+------------+
| Increment | Range      |
+===========+============+
| 0.01      | 0.0 to 3.0 |
+-----------+------------+




.. _POSYAW_IMAX:

POSYAW\_IMAX: Position \(yaw\) axis controller I gain maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position \(yaw\) axis controller I gain maximum\.


+-----------+-----------+-------------+
| Increment | Range     | Units       |
+===========+===========+=============+
| 10        | 0 to 4000 | decipercent |
+-----------+-----------+-------------+




.. _POSYAW_D:

POSYAW\_D: Position \(yaw\) axis controller D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position \(yaw\) axis controller D gain\.


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| 0.001     | 0.001 to 0.1 |
+-----------+--------------+




.. _POSYAW_FF:

POSYAW\_FF: Position \(yaw\) axis controller feed forward
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position \(yaw\) axis controller feed forward


+-----------+----------+
| Increment | Range    |
+===========+==========+
| 0.001     | 0 to 0.5 |
+-----------+----------+




.. _POSYAW_FLTT:

POSYAW\_FLTT: Position \(yaw\) target frequency filter in Hz
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position \(yaw\) target frequency filter in Hz


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 1 to 50 | hertz |
+-----------+---------+-------+




.. _POSYAW_FLTE:

POSYAW\_FLTE: Position \(yaw\) error frequency filter in Hz
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position \(yaw\) error frequency filter in Hz


+-----------+----------+-------+
| Increment | Range    | Units |
+===========+==========+=======+
| 1         | 1 to 100 | hertz |
+-----------+----------+-------+




.. _POSYAW_FLTD:

POSYAW\_FLTD: Position \(yaw\) derivative input filter in Hz
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position \(yaw\) derivative input filter in Hz


+-----------+----------+-------+
| Increment | Range    | Units |
+===========+==========+=======+
| 1         | 1 to 100 | hertz |
+-----------+----------+-------+




.. _POSYAW_SMAX:

POSYAW\_SMAX: Yaw slew rate limit
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Sets an upper limit on the slew rate produced by the combined P and D gains\.


+-----------+----------+
| Increment | Range    |
+===========+==========+
| 0.5       | 0 to 200 |
+-----------+----------+




.. _DEV_OPTIONS:

DEV\_OPTIONS: Development options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask of developer options\. The meanings of the bit fields in this parameter may vary at any time\. Developers should check the source code for current meaning


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | Unknown |
+-----+---------+




.. _SYSID_ENFORCE:

SYSID\_ENFORCE: GCS sysid enforcement
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls whether packets from other than the expected GCS system ID will be accepted


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | NotEnforced |
+-------+-------------+
| 1     | Enforced    |
+-------+-------------+




.. _FRAME_CLASS:

FRAME\_CLASS: Frame Class
~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls major frame class for blimp\.


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | Finnedblimp |
+-------+-------------+




.. _PILOT_SPEED_DN:

PILOT\_SPEED\_DN: Pilot maximum vertical speed descending
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The maximum vertical descending velocity the pilot may request in cm\/s


+-----------+-----------+------------------------+
| Increment | Range     | Units                  |
+===========+===========+========================+
| 10        | 50 to 500 | centimeters per second |
+-----------+-----------+------------------------+




.. _FS_VIBE_ENABLE:

FS\_VIBE\_ENABLE: Vibration Failsafe enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _FS_OPTIONS:

FS\_OPTIONS: Failsafe options bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask of additional options for battery\, radio\, \& GCS failsafes\. 0 \(default\) disables all options\.


+-----+-------------------------------------------------------+
| Bit | Meaning                                               |
+=====+=======================================================+
| 4   | Continue if in pilot controlled modes on GCS failsafe |
+-----+-------------------------------------------------------+




+-------+-------------------------------------------------------+
| Value | Meaning                                               |
+=======+=======================================================+
| 0     | Disabled                                              |
+-------+-------------------------------------------------------+
| 16    | Continue if in pilot controlled modes on GCS failsafe |
+-------+-------------------------------------------------------+




.. _FS_GCS_TIMEOUT:

FS\_GCS\_TIMEOUT: GCS failsafe timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Timeout before triggering the GCS failsafe


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 2 to 120 | seconds |
+-----------+----------+---------+





.. _parameters_AHRS_:

AHRS\_ Parameters
-----------------


.. _AHRS_GPS_GAIN:

AHRS\_GPS\_GAIN: AHRS GPS gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls how much to use the GPS to correct the attitude\. This should never be set to zero for a plane as it would result in the plane losing control in turns\. For a plane please use the default value of 1\.0\.


+-----------+------------+
| Increment | Range      |
+===========+============+
| .01       | 0.0 to 1.0 |
+-----------+------------+




.. _AHRS_GPS_USE:

AHRS\_GPS\_USE: AHRS use GPS for DCM navigation and position\-down
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls whether to use dead\-reckoning or GPS based navigation\. If set to 0 then the GPS won\'t be used for navigation\, and only dead reckoning will be used\. A value of zero should never be used for normal flight\. Currently this affects only the DCM\-based AHRS\: the EKF uses GPS according to its own parameters\. A value of 2 means to use GPS for height as well as position \- both in DCM estimation and when determining altitude\-above\-home\.


+-------+-------------------------------------+
| Value | Meaning                             |
+=======+=====================================+
| 0     | Disabled                            |
+-------+-------------------------------------+
| 1     | Use GPS for DCM position            |
+-------+-------------------------------------+
| 2     | Use GPS for DCM position and height |
+-------+-------------------------------------+




.. _AHRS_YAW_P:

AHRS\_YAW\_P: Yaw P
~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+------------+
| Increment | Range      |
+===========+============+
| .01       | 0.1 to 0.4 |
+-----------+------------+




.. _AHRS_RP_P:

AHRS\_RP\_P: AHRS RP\_P
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls how fast the accelerometers correct the attitude


+-----------+------------+
| Increment | Range      |
+===========+============+
| .01       | 0.1 to 0.4 |
+-----------+------------+




.. _AHRS_WIND_MAX:

AHRS\_WIND\_MAX: Maximum wind
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the maximum allowable difference between ground speed and airspeed\. 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\.


+-----------+----------+-------------------+
| Increment | Range    | Units             |
+===========+==========+===================+
| 1         | 0 to 127 | meters per second |
+-----------+----------+-------------------+




.. _AHRS_TRIM_X:

AHRS\_TRIM\_X: AHRS Trim Roll
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+--------------------+---------+
| Increment | Range              | Units   |
+===========+====================+=========+
| 0.01      | -0.1745 to +0.1745 | radians |
+-----------+--------------------+---------+




.. _AHRS_TRIM_Y:

AHRS\_TRIM\_Y: AHRS Trim Pitch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+--------------------+---------+
| Increment | Range              | Units   |
+===========+====================+=========+
| 0.01      | -0.1745 to +0.1745 | radians |
+-----------+--------------------+---------+




.. _AHRS_TRIM_Z:

AHRS\_TRIM\_Z: AHRS Trim Yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Not Used


+-----------+--------------------+---------+
| Increment | Range              | Units   |
+===========+====================+=========+
| 0.01      | -0.1745 to +0.1745 | radians |
+-----------+--------------------+---------+




.. _AHRS_ORIENTATION:

AHRS\_ORIENTATION: Board Orientation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Overall board orientation relative to the standard orientation for the board type\. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle\. The label for each option is specified in the order of rotations for that orientation\. This option takes affect on next boot\. After changing you will need to re\-level your vehicle\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the AHRS\_CUSTOM\_ROLL\/PIT\/YAW angles for AHRS orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_ROT1\_ROLL\/PIT\/YAW or CUST\_ROT2\_ROLL\/PIT\/YAW angles\.


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | None                 |
+-------+----------------------+
| 1     | Yaw45                |
+-------+----------------------+
| 2     | Yaw90                |
+-------+----------------------+
| 3     | Yaw135               |
+-------+----------------------+
| 4     | Yaw180               |
+-------+----------------------+
| 5     | Yaw225               |
+-------+----------------------+
| 6     | Yaw270               |
+-------+----------------------+
| 7     | Yaw315               |
+-------+----------------------+
| 8     | Roll180              |
+-------+----------------------+
| 9     | Yaw45Roll180         |
+-------+----------------------+
| 10    | Yaw90Roll180         |
+-------+----------------------+
| 11    | Yaw135Roll180        |
+-------+----------------------+
| 12    | Pitch180             |
+-------+----------------------+
| 13    | Yaw225Roll180        |
+-------+----------------------+
| 14    | Yaw270Roll180        |
+-------+----------------------+
| 15    | Yaw315Roll180        |
+-------+----------------------+
| 16    | Roll90               |
+-------+----------------------+
| 17    | Yaw45Roll90          |
+-------+----------------------+
| 18    | Yaw90Roll90          |
+-------+----------------------+
| 19    | Yaw135Roll90         |
+-------+----------------------+
| 20    | Roll270              |
+-------+----------------------+
| 21    | Yaw45Roll270         |
+-------+----------------------+
| 22    | Yaw90Roll270         |
+-------+----------------------+
| 23    | Yaw135Roll270        |
+-------+----------------------+
| 24    | Pitch90              |
+-------+----------------------+
| 25    | Pitch270             |
+-------+----------------------+
| 26    | Yaw90Pitch180        |
+-------+----------------------+
| 27    | Yaw270Pitch180       |
+-------+----------------------+
| 28    | Pitch90Roll90        |
+-------+----------------------+
| 29    | Pitch90Roll180       |
+-------+----------------------+
| 30    | Pitch90Roll270       |
+-------+----------------------+
| 31    | Pitch180Roll90       |
+-------+----------------------+
| 32    | Pitch180Roll270      |
+-------+----------------------+
| 33    | Pitch270Roll90       |
+-------+----------------------+
| 34    | Pitch270Roll180      |
+-------+----------------------+
| 35    | Pitch270Roll270      |
+-------+----------------------+
| 36    | Yaw90Pitch180Roll90  |
+-------+----------------------+
| 37    | Yaw270Roll90         |
+-------+----------------------+
| 38    | Yaw293Pitch68Roll180 |
+-------+----------------------+
| 39    | Pitch315             |
+-------+----------------------+
| 40    | Pitch315Roll90       |
+-------+----------------------+
| 42    | Roll45               |
+-------+----------------------+
| 43    | Roll315              |
+-------+----------------------+
| 100   | Custom 4.1 and older |
+-------+----------------------+
| 101   | Custom 1             |
+-------+----------------------+
| 102   | Custom 2             |
+-------+----------------------+




.. _AHRS_COMP_BETA:

AHRS\_COMP\_BETA: AHRS Velocity Complementary Filter Beta Coefficient
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls the time constant for the cross\-over frequency used to fuse AHRS \(airspeed and heading\) and GPS data to estimate ground velocity\. Time constant is 0\.1\/beta\. A larger time constant will use GPS data less and a small time constant will use air data less\.


+-----------+--------------+
| Increment | Range        |
+===========+==============+
| .01       | 0.001 to 0.5 |
+-----------+--------------+




.. _AHRS_GPS_MINSATS:

AHRS\_GPS\_MINSATS: AHRS GPS Minimum satellites
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 0 to 10 |
+-----------+---------+




.. _AHRS_EKF_TYPE:

AHRS\_EKF\_TYPE: Use NavEKF Kalman filter for attitude and position estimation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls which NavEKF Kalman filter version is used for attitude and position estimation


+-------+--------------+
| Value | Meaning      |
+=======+==============+
| 0     | Disabled     |
+-------+--------------+
| 2     | Enable EKF2  |
+-------+--------------+
| 3     | Enable EKF3  |
+-------+--------------+
| 11    | ExternalAHRS |
+-------+--------------+




.. _AHRS_CUSTOM_ROLL:

AHRS\_CUSTOM\_ROLL: Board orientation roll offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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\.


+-----------+-------------+---------+
| Increment | Range       | Units   |
+===========+=============+=========+
| 1         | -180 to 180 | degrees |
+-----------+-------------+---------+




.. _AHRS_CUSTOM_PIT:

AHRS\_CUSTOM\_PIT: Board orientation pitch offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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\.


+-----------+-------------+---------+
| Increment | Range       | Units   |
+===========+=============+=========+
| 1         | -180 to 180 | degrees |
+-----------+-------------+---------+




.. _AHRS_CUSTOM_YAW:

AHRS\_CUSTOM\_YAW: Board orientation yaw offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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\.


+-----------+-------------+---------+
| Increment | Range       | Units   |
+===========+=============+=========+
| 1         | -180 to 180 | degrees |
+-----------+-------------+---------+





.. _parameters_AIS_:

AIS\_ Parameters
----------------


.. _AIS_TYPE:

AIS\_TYPE: AIS receiver type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

AIS receiver type


+-------+--------------------+
| Value | Meaning            |
+=======+====================+
| 0     | None               |
+-------+--------------------+
| 1     | NMEA AIVDM message |
+-------+--------------------+




.. _AIS_LIST_MAX:

AIS\_LIST\_MAX: AIS vessel list size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

AIS list size of nearest vessels\. Longer lists take longer to refresh with lower SRx\_ADSB values\.


+----------+
| Range    |
+==========+
| 1 to 100 |
+----------+




.. _AIS_TIME_OUT:

AIS\_TIME\_OUT: AIS vessel time out
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

if no updates are received in this time a vessel will be removed from the list


+-----------+---------+
| Range     | Units   |
+===========+=========+
| 1 to 2000 | seconds |
+-----------+---------+




.. _AIS_LOGGING:

AIS\_LOGGING: AIS logging options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask of AIS logging options


+-----+-------------------------------------+
| Bit | Meaning                             |
+=====+=====================================+
| 0   | Log all AIVDM messages              |
+-----+-------------------------------------+
| 1   | Log only unsupported AIVDM messages |
+-----+-------------------------------------+
| 2   | Log decoded messages                |
+-----+-------------------------------------+





.. _parameters_ARMING_:

ARMING\_ Parameters
-------------------


.. _ARMING_ACCTHRESH:

ARMING\_ACCTHRESH: Accelerometer error threshold
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\.


+-------------+--------------------------+
| Range       | Units                    |
+=============+==========================+
| 0.25 to 3.0 | meters per square second |
+-------------+--------------------------+




.. _ARMING_RUDDER:

ARMING\_RUDDER: Arming with Rudder enable\/disable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works in manual throttle modes with throttle at zero \+\- deadzone \(RCx\_DZ\)


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | Disabled    |
+-------+-------------+
| 1     | ArmingOnly  |
+-------+-------------+
| 2     | ArmOrDisarm |
+-------+-------------+




.. _ARMING_MIS_ITEMS:

ARMING\_MIS\_ITEMS: Required mission items
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask of mission items that are required to be planned in order to arm the aircraft


+-----+---------------+
| Bit | Meaning       |
+=====+===============+
| 0   | Land          |
+-----+---------------+
| 1   | VTOL Land     |
+-----+---------------+
| 2   | DO_LAND_START |
+-----+---------------+
| 3   | Takeoff       |
+-----+---------------+
| 4   | VTOL Takeoff  |
+-----+---------------+
| 5   | Rallypoint    |
+-----+---------------+
| 6   | RTL           |
+-----+---------------+




.. _ARMING_CHECK:

ARMING\_CHECK: Arm Checks to Perform \(bitmask\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Checks prior to arming motor\. This is a bitmask of checks that will be performed before allowing arming\. For most users it is recommended to leave this at the default of 1 \(all checks enabled\)\. 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\.


+-----+------------------------+
| Bit | Meaning                |
+=====+========================+
| 0   | All                    |
+-----+------------------------+
| 1   | Barometer              |
+-----+------------------------+
| 2   | Compass                |
+-----+------------------------+
| 3   | GPS lock               |
+-----+------------------------+
| 4   | INS                    |
+-----+------------------------+
| 5   | Parameters             |
+-----+------------------------+
| 6   | RC Channels            |
+-----+------------------------+
| 7   | Board voltage          |
+-----+------------------------+
| 8   | Battery Level          |
+-----+------------------------+
| 10  | Logging Available      |
+-----+------------------------+
| 11  | Hardware safety switch |
+-----+------------------------+
| 12  | GPS Configuration      |
+-----+------------------------+
| 13  | System                 |
+-----+------------------------+
| 14  | Mission                |
+-----+------------------------+
| 15  | Rangefinder            |
+-----+------------------------+
| 16  | Camera                 |
+-----+------------------------+
| 17  | AuxAuth                |
+-----+------------------------+
| 18  | VisualOdometry         |
+-----+------------------------+
| 19  | FFT                    |
+-----+------------------------+




.. _ARMING_OPTIONS:

ARMING\_OPTIONS: Arming options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Options that can be applied to change arming behaviour


+-------+------------------------+
| Value | Meaning                |
+=======+========================+
| 0     | None                   |
+-------+------------------------+
| 1     | Disable prearm display |
+-------+------------------------+





.. _parameters_ARSPD:

ARSPD Parameters
----------------


.. _ARSPD_TYPE:

ARSPD\_TYPE: Airspeed type
~~~~~~~~~~~~~~~~~~~~~~~~~~


Type of airspeed sensor


+-------+-------------------+
| Value | Meaning           |
+=======+===================+
| 0     | None              |
+-------+-------------------+
| 1     | I2C-MS4525D0      |
+-------+-------------------+
| 2     | Analog            |
+-------+-------------------+
| 3     | I2C-MS5525        |
+-------+-------------------+
| 4     | I2C-MS5525 (0x76) |
+-------+-------------------+
| 5     | I2C-MS5525 (0x77) |
+-------+-------------------+
| 6     | I2C-SDP3X         |
+-------+-------------------+
| 7     | I2C-DLVR-5in      |
+-------+-------------------+
| 8     | DroneCAN          |
+-------+-------------------+
| 9     | I2C-DLVR-10in     |
+-------+-------------------+
| 10    | I2C-DLVR-20in     |
+-------+-------------------+
| 11    | I2C-DLVR-30in     |
+-------+-------------------+
| 12    | I2C-DLVR-60in     |
+-------+-------------------+
| 13    | NMEA water speed  |
+-------+-------------------+
| 14    | MSP               |
+-------+-------------------+
| 15    | ASP5033           |
+-------+-------------------+
| 100   | SITL              |
+-------+-------------------+




.. _ARSPD_DEVID:

ARSPD\_DEVID: Airspeed ID
~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Airspeed sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _ARSPD_USE:

ARSPD\_USE: Airspeed use
~~~~~~~~~~~~~~~~~~~~~~~~


This parameter is not used by this vehicle\. Always set to 0\.


+-------+---------------------+
| Value | Meaning             |
+=======+=====================+
| 0     | DoNotUse            |
+-------+---------------------+
| 1     | Use                 |
+-------+---------------------+
| 2     | UseWhenZeroThrottle |
+-------+---------------------+




.. _ARSPD_OFFSET:

ARSPD\_OFFSET: Airspeed offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Airspeed calibration offset


+-----------+
| Increment |
+===========+
| 0.1       |
+-----------+




.. _ARSPD_RATIO:

ARSPD\_RATIO: Airspeed ratio
~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\.


+-----------+
| Increment |
+===========+
| 0.1       |
+-----------+




.. _ARSPD_PIN:

ARSPD\_PIN: Airspeed pin
~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The pin number that the airspeed sensor is connected to for analog sensors\. Set to 15 on the Pixhawk for the analog airspeed port\. 


.. _ARSPD_AUTOCAL:

ARSPD\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\.
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Enables automatic adjustment of 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\.


.. _ARSPD_TUBE_ORDER:

ARSPD\_TUBE\_ORDER: Control pitot tube order
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | Normal      |
+-------+-------------+
| 1     | Swapped     |
+-------+-------------+
| 2     | Auto Detect |
+-------+-------------+




.. _ARSPD_SKIP_CAL:

ARSPD\_SKIP\_CAL: Skip airspeed offset calibration on startup
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Disable |
+-------+---------+
| 1     | Enable  |
+-------+---------+




.. _ARSPD_PSI_RANGE:

ARSPD\_PSI\_RANGE: The PSI range of the device
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device


.. _ARSPD_BUS:

ARSPD\_BUS: Airspeed I2C bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Bus0    |
+-------+---------+
| 1     | Bus1    |
+-------+---------+
| 2     | Bus2    |
+-------+---------+




.. _ARSPD_PRIMARY:

ARSPD\_PRIMARY: Primary airspeed sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This selects which airspeed sensor will be the primary if multiple sensors are found


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | FirstSensor |
+-------+-------------+
| 1     | 2ndSensor   |
+-------+-------------+




.. _ARSPD_OPTIONS:

ARSPD\_OPTIONS: Airspeed options bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter and function is not used by this vehicle\. Always set to 0\.


+-----+----------------------------+
| Bit | Meaning                    |
+=====+============================+
| 0   | SpeedMismatchDisable       |
+-----+----------------------------+
| 1   | AllowSpeedMismatchRecovery |
+-----+----------------------------+
| 2   | DisableVoltageCorrection   |
+-----+----------------------------+
| 3   | UseEkf3Consistency         |
+-----+----------------------------+




.. _ARSPD_WIND_MAX:

ARSPD\_WIND\_MAX: Maximum airspeed and ground speed difference
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter and function is not used by this vehicle\. Always set to 0\.


+-------------------+
| Units             |
+===================+
| meters per second |
+-------------------+




.. _ARSPD_WIND_WARN:

ARSPD\_WIND\_WARN: Airspeed and ground speed difference that gives a warning
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter and function is not used by this vehicle\. Always set to 0\.


+-------------------+
| Units             |
+===================+
| meters per second |
+-------------------+




.. _ARSPD_WIND_GATE:

ARSPD\_WIND\_GATE: Re\-enable Consistency Check Gate Size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter and function is not used by this vehicle\.


+-------------+
| Range       |
+=============+
| 0.0 to 10.0 |
+-------------+




.. _ARSPD_OFF_PCNT:

ARSPD\_OFF\_PCNT: Maximum offset cal speed error
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibraions before a warning is issued\. This potential speed error is in percent of ASPD\_FBW\_MIN\. 0 disables\. Helps warn of calibrations without pitot being covered\.


+-------------+---------+
| Range       | Units   |
+=============+=========+
| 0.0 to 10.0 | percent |
+-------------+---------+




.. _ARSPD2_TYPE:

ARSPD2\_TYPE: Second Airspeed type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Type of 2nd airspeed sensor


+-------+-------------------+
| Value | Meaning           |
+=======+===================+
| 0     | None              |
+-------+-------------------+
| 1     | I2C-MS4525D0      |
+-------+-------------------+
| 2     | Analog            |
+-------+-------------------+
| 3     | I2C-MS5525        |
+-------+-------------------+
| 4     | I2C-MS5525 (0x76) |
+-------+-------------------+
| 5     | I2C-MS5525 (0x77) |
+-------+-------------------+
| 6     | I2C-SDP3X         |
+-------+-------------------+
| 7     | I2C-DLVR-5in      |
+-------+-------------------+
| 8     | DroneCAN          |
+-------+-------------------+
| 9     | I2C-DLVR-10in     |
+-------+-------------------+
| 10    | I2C-DLVR-20in     |
+-------+-------------------+
| 11    | I2C-DLVR-30in     |
+-------+-------------------+
| 12    | I2C-DLVR-60in     |
+-------+-------------------+
| 13    | NMEA water speed  |
+-------+-------------------+
| 14    | MSP               |
+-------+-------------------+
| 15    | ASP5033           |
+-------+-------------------+




.. _ARSPD2_USE:

ARSPD2\_USE: Enable use of 2nd airspeed sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This parameter and function is not used by this vehicle\. Always set to 0\.


+-------+---------------------+
| Value | Meaning             |
+=======+=====================+
| 0     | Don't Use           |
+-------+---------------------+
| 1     | use                 |
+-------+---------------------+
| 2     | UseWhenZeroThrottle |
+-------+---------------------+




.. _ARSPD2_OFFSET:

ARSPD2\_OFFSET: Airspeed offset for 2nd airspeed sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Airspeed calibration offset


+-----------+
| Increment |
+===========+
| 0.1       |
+-----------+




.. _ARSPD2_RATIO:

ARSPD2\_RATIO: Airspeed ratio for 2nd airspeed sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Airspeed calibration ratio


+-----------+
| Increment |
+===========+
| 0.1       |
+-----------+




.. _ARSPD2_PIN:

ARSPD2\_PIN: Airspeed pin for 2nd airspeed sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Pin number indicating location of analog airspeed sensors\. Pixhawk\/Cube if set to 15\. 


.. _ARSPD2_AUTOCAL:

ARSPD2\_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter and function is not used by this vehicle\. Always set to 0\.


.. _ARSPD2_TUBE_ORDR:

ARSPD2\_TUBE\_ORDR: Control pitot tube order of 2nd airspeed sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | Normal      |
+-------+-------------+
| 1     | Swapped     |
+-------+-------------+
| 2     | Auto Detect |
+-------+-------------+




.. _ARSPD2_SKIP_CAL:

ARSPD2\_SKIP\_CAL: Skip airspeed offset calibration on startup for 2nd sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Disable |
+-------+---------+
| 1     | Enable  |
+-------+---------+




.. _ARSPD2_PSI_RANGE:

ARSPD2\_PSI\_RANGE: The PSI range of the device for 2nd sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device


.. _ARSPD2_BUS:

ARSPD2\_BUS: Airspeed I2C bus for 2nd sensor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Bus0    |
+-------+---------+
| 1     | Bus1    |
+-------+---------+
| 2     | Bus2    |
+-------+---------+




.. _ARSPD2_DEVID:

ARSPD2\_DEVID: Airspeed2 ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Airspeed2 sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+





.. _parameters_BARO:

BARO Parameters
---------------


.. _BARO1_GND_PRESS:

BARO1\_GND\_PRESS: Ground Pressure
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

calibrated ground pressure in Pascals


+-----------+----------+--------+----------+
| Increment | ReadOnly | Units  | Volatile |
+===========+==========+========+==========+
| 1         | True     | pascal | True     |
+-----------+----------+--------+----------+




.. _BARO_GND_TEMP:

BARO\_GND\_TEMP: ground temperature
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

User provided ambient ground temperature in degrees Celsius\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. A value of 0 means use the internal measurement ambient temperature\.


+-----------+-----------------+----------+
| Increment | Units           | Volatile |
+===========+=================+==========+
| 1         | degrees Celsius | True     |
+-----------+-----------------+----------+




.. _BARO_ALT_OFFSET:

BARO\_ALT\_OFFSET: altitude offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+--------+
| Increment | Units  |
+===========+========+
| 0.1       | meters |
+-----------+--------+




.. _BARO_PRIMARY:

BARO\_PRIMARY: Primary barometer
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This selects which barometer will be the primary if multiple barometers are found


+-------+-----------+
| Value | Meaning   |
+=======+===========+
| 0     | FirstBaro |
+-------+-----------+
| 1     | 2ndBaro   |
+-------+-----------+
| 2     | 3rdBaro   |
+-------+-----------+




.. _BARO_EXT_BUS:

BARO\_EXT\_BUS: External baro bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the BARO\_PROBE\_EXT parameter\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| -1    | Disabled |
+-------+----------+
| 0     | Bus0     |
+-------+----------+
| 1     | Bus1     |
+-------+----------+
| 6     | Bus6     |
+-------+----------+




.. _BARO2_GND_PRESS:

BARO2\_GND\_PRESS: Ground Pressure
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

calibrated ground pressure in Pascals


+-----------+----------+--------+----------+
| Increment | ReadOnly | Units  | Volatile |
+===========+==========+========+==========+
| 1         | True     | pascal | True     |
+-----------+----------+--------+----------+




.. _BARO3_GND_PRESS:

BARO3\_GND\_PRESS: Absolute Pressure
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

calibrated ground pressure in Pascals


+-----------+----------+--------+----------+
| Increment | ReadOnly | Units  | Volatile |
+===========+==========+========+==========+
| 1         | True     | pascal | True     |
+-----------+----------+--------+----------+




.. _BARO_FLTR_RNG:

BARO\_FLTR\_RNG: Range in which sample is accepted
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 100 | percent |
+-----------+----------+---------+




.. _BARO_PROBE_EXT:

BARO\_PROBE\_EXT: External barometers to probe
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on BARO\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in BARO\_EXT\_BUS\.


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | BMP085  |
+-----+---------+
| 1   | BMP280  |
+-----+---------+
| 2   | MS5611  |
+-----+---------+
| 3   | MS5607  |
+-----+---------+
| 4   | MS5637  |
+-----+---------+
| 5   | FBM320  |
+-----+---------+
| 6   | DPS280  |
+-----+---------+
| 7   | LPS25H  |
+-----+---------+
| 8   | Keller  |
+-----+---------+
| 9   | MS5837  |
+-----+---------+
| 10  | BMP388  |
+-----+---------+
| 11  | SPL06   |
+-----+---------+
| 12  | MSP     |
+-----+---------+




.. _BARO1_DEVID:

BARO1\_DEVID: Baro ID
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Barometer sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _BARO2_DEVID:

BARO2\_DEVID: Baro ID2
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Barometer2 sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _BARO3_DEVID:

BARO3\_DEVID: Baro ID3
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Barometer3 sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _BARO_FIELD_ELV:

BARO\_FIELD\_ELV: field elevation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

User provided field elevation in meters\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. A value of 0 means no correction for takeoff height above sea level is performed\.


+-----------+--------+----------+
| Increment | Units  | Volatile |
+===========+========+==========+
| 0.1       | meters | True     |
+-----------+--------+----------+




.. _BARO_ALTERR_MAX:

BARO\_ALTERR\_MAX: Altitude error maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\.


+-----------+-----------+--------+
| Increment | Range     | Units  |
+===========+===========+========+
| 1         | 0 to 5000 | meters |
+-----------+-----------+--------+




.. _BARO_OPTIONS:

BARO\_OPTIONS: Barometer options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Barometer options


+-----+------------------------+
| Bit | Meaning                |
+=====+========================+
| 0   | Treat MS5611 as MS5607 |
+-----+------------------------+





.. _parameters_BARO1_WCF_:

BARO1\_WCF\_ Parameters
-----------------------


.. _BARO1_WCF_ENABLE:

BARO1\_WCF\_ENABLE: Wind coefficient enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This enables the use of wind coefficients for barometer compensation


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _BARO1_WCF_FWD:

BARO1\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO1_WCF_BCK:

BARO1\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO1_WCF_RGT:

BARO1\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO1_WCF_LFT:

BARO1\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO1_WCF_UP:

BARO1\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO1_WCF_DN:

BARO1\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+





.. _parameters_BARO2_WCF_:

BARO2\_WCF\_ Parameters
-----------------------


.. _BARO2_WCF_ENABLE:

BARO2\_WCF\_ENABLE: Wind coefficient enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This enables the use of wind coefficients for barometer compensation


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _BARO2_WCF_FWD:

BARO2\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO2_WCF_BCK:

BARO2\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO2_WCF_RGT:

BARO2\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO2_WCF_LFT:

BARO2\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO2_WCF_UP:

BARO2\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO2_WCF_DN:

BARO2\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+





.. _parameters_BARO3_WCF_:

BARO3\_WCF\_ Parameters
-----------------------


.. _BARO3_WCF_ENABLE:

BARO3\_WCF\_ENABLE: Wind coefficient enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This enables the use of wind coefficients for barometer compensation


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _BARO3_WCF_FWD:

BARO3\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO3_WCF_BCK:

BARO3\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO3_WCF_RGT:

BARO3\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO3_WCF_LFT:

BARO3\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO3_WCF_UP:

BARO3\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+




.. _BARO3_WCF_DN:

BARO3\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.05      | -1.0 to 1.0 |
+-----------+-------------+





.. _parameters_BATT2_:

BATT2\_ Parameters
------------------


.. _BATT2_MONITOR:

BATT2\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls enabling monitoring of the battery\'s voltage and current


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| 0     | Disabled                             |
+-------+--------------------------------------+
| 3     | Analog Voltage Only                  |
+-------+--------------------------------------+
| 4     | Analog Voltage and Current           |
+-------+--------------------------------------+
| 5     | Solo                                 |
+-------+--------------------------------------+
| 6     | Bebop                                |
+-------+--------------------------------------+
| 7     | SMBus-Generic                        |
+-------+--------------------------------------+
| 8     | DroneCAN-BatteryInfo                 |
+-------+--------------------------------------+
| 9     | ESC                                  |
+-------+--------------------------------------+
| 10    | Sum Of Selected Monitors             |
+-------+--------------------------------------+
| 11    | FuelFlow                             |
+-------+--------------------------------------+
| 12    | FuelLevelPWM                         |
+-------+--------------------------------------+
| 13    | SMBUS-SUI3                           |
+-------+--------------------------------------+
| 14    | SMBUS-SUI6                           |
+-------+--------------------------------------+
| 15    | NeoDesign                            |
+-------+--------------------------------------+
| 16    | SMBus-Maxell                         |
+-------+--------------------------------------+
| 17    | Generator-Elec                       |
+-------+--------------------------------------+
| 18    | Generator-Fuel                       |
+-------+--------------------------------------+
| 19    | Rotoye                               |
+-------+--------------------------------------+
| 20    | MPPT                                 |
+-------+--------------------------------------+
| 21    | INA2XX                               |
+-------+--------------------------------------+
| 22    | LTC2946                              |
+-------+--------------------------------------+
| 23    | Torqeedo                             |
+-------+--------------------------------------+
| 24    | FuelLevelAnalog                      |
+-------+--------------------------------------+
| 25    | Synthetic Current and Analog Voltage |
+-------+--------------------------------------+




.. _BATT2_CAPACITY:

BATT2\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Capacity of the battery in mAh when full


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT2_SERIAL_NUM:

BATT2\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\.


.. _BATT2_LOW_TIMER:

BATT2\_LOW\_TIMER: Low voltage timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 120 | seconds |
+-----------+----------+---------+




.. _BATT2_FS_VOLTSRC:

BATT2\_FS\_VOLTSRC: Failsafe voltage source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage type used for detection of low voltage event


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Raw Voltage             |
+-------+-------------------------+
| 1     | Sag Compensated Voltage |
+-------+-------------------------+




.. _BATT2_LOW_VOLT:

BATT2\_LOW\_VOLT: Low battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT2_LOW_MAH:

BATT2\_LOW\_MAH: Low battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT2_CRT_VOLT:

BATT2\_CRT\_VOLT: Critical battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT2_CRT_MAH:

BATT2\_CRT\_MAH: Battery critical capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_\_FS\_CRT\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT2_FS_LOW_ACT:

BATT2\_FS\_LOW\_ACT: Low battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a low battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT2_FS_CRT_ACT:

BATT2\_FS\_CRT\_ACT: Critical battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a critical battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT2_ARM_VOLT:

BATT2\_ARM\_VOLT: Required arming voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT2_ARM_MAH:

BATT2\_ARM\_MAH: Required arming remaining capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT2\_\_ARM\_VOLT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT2_OPTIONS:

BATT2\_OPTIONS: Battery monitor options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the battery monitor


+-----+--------------------------------------------+
| Bit | Meaning                                    |
+=====+============================================+
| 0   | Ignore DroneCAN SoC                        |
+-----+--------------------------------------------+
| 1   | MPPT reports input voltage and current     |
+-----+--------------------------------------------+
| 2   | MPPT Powered off when disarmed             |
+-----+--------------------------------------------+
| 3   | MPPT Powered on when armed                 |
+-----+--------------------------------------------+
| 4   | MPPT Powered off at boot                   |
+-----+--------------------------------------------+
| 5   | MPPT Powered on at boot                    |
+-----+--------------------------------------------+
| 6   | Send resistance compensated voltage to GCS |
+-----+--------------------------------------------+




.. _BATT2_VOLT_PIN:

BATT2\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for voltage monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 2     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 5     | Navigator                            |
+-------+--------------------------------------+
| 13    | Pixhawk2_PM2/CubeOrange_PM2          |
+-------+--------------------------------------+
| 14    | CubeOrange                           |
+-------+--------------------------------------+
| 16    | Durandal                             |
+-------+--------------------------------------+
| 100   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT2_CURR_PIN:

BATT2\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for current monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 3     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 4     | CubeOrange_PM2/Navigator             |
+-------+--------------------------------------+
| 14    | Pixhawk2_PM2                         |
+-------+--------------------------------------+
| 15    | CubeOrange                           |
+-------+--------------------------------------+
| 17    | Durandal                             |
+-------+--------------------------------------+
| 101   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT2_VOLT_MULT:

BATT2\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\.


.. _BATT2_AMP_PERVLT:

BATT2\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\.


+-----------------+
| Units           |
+=================+
| ampere per volt |
+-----------------+




.. _BATT2_AMP_OFFSET:

BATT2\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT2_VLT_OFFSET:

BATT2\_VLT\_OFFSET: Voltage offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT2_I2C_BUS:

BATT2\_I2C\_BUS: Battery monitor I2C bus number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C bus number


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _BATT2_I2C_ADDR:

BATT2\_I2C\_ADDR: Battery monitor I2C address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _BATT2_SUM_MASK:

BATT2\_SUM\_MASK: Battery Sum mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | monitor 1 |
+-----+-----------+
| 1   | monitor 2 |
+-----+-----------+
| 2   | monitor 3 |
+-----+-----------+
| 3   | monitor 4 |
+-----+-----------+
| 4   | monitor 5 |
+-----+-----------+
| 5   | monitor 6 |
+-----+-----------+
| 6   | monitor 7 |
+-----+-----------+
| 7   | monitor 8 |
+-----+-----------+
| 8   | monitor 9 |
+-----+-----------+




.. _BATT2_CURR_MULT:

BATT2\_CURR\_MULT: Scales reported power monitor current
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications


+----------+
| Range    |
+==========+
| .1 to 10 |
+----------+




.. _BATT2_FL_VLT_MIN:

BATT2\_FL\_VLT\_MIN: Empty fuel level voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+-------+
| Range      | Units |
+============+=======+
| 0.01 to 10 | volt  |
+------------+-------+




.. _BATT2_FL_V_MULT:

BATT2\_FL\_V\_MULT: Fuel level voltage multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+
| Range      |
+============+
| 0.01 to 10 |
+------------+




.. _BATT2_FL_FLTR:

BATT2\_FL\_FLTR: Fuel level filter frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\.


+---------+-------+
| Range   | Units |
+=========+=======+
| -1 to 1 | hertz |
+---------+-------+




.. _BATT2_FL_PIN:

BATT2\_FL\_PIN: Fuel level analog pin number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Analog input pin that fuel level sensor is connected to\. Airspeed ports can be used for Analog input\. When using analog pin 103\, the maximum value of the input in 3\.3V\.


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | Not Used                  |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _BATT2_MAX_VOLT:

BATT2\_MAX\_VOLT: Maximum Battery Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum voltage of battery\. Provides scaling of current versus voltage


+----------+
| Range    |
+==========+
| 7 to 100 |
+----------+





.. _parameters_BATT3_:

BATT3\_ Parameters
------------------


.. _BATT3_MONITOR:

BATT3\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls enabling monitoring of the battery\'s voltage and current


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| 0     | Disabled                             |
+-------+--------------------------------------+
| 3     | Analog Voltage Only                  |
+-------+--------------------------------------+
| 4     | Analog Voltage and Current           |
+-------+--------------------------------------+
| 5     | Solo                                 |
+-------+--------------------------------------+
| 6     | Bebop                                |
+-------+--------------------------------------+
| 7     | SMBus-Generic                        |
+-------+--------------------------------------+
| 8     | DroneCAN-BatteryInfo                 |
+-------+--------------------------------------+
| 9     | ESC                                  |
+-------+--------------------------------------+
| 10    | Sum Of Selected Monitors             |
+-------+--------------------------------------+
| 11    | FuelFlow                             |
+-------+--------------------------------------+
| 12    | FuelLevelPWM                         |
+-------+--------------------------------------+
| 13    | SMBUS-SUI3                           |
+-------+--------------------------------------+
| 14    | SMBUS-SUI6                           |
+-------+--------------------------------------+
| 15    | NeoDesign                            |
+-------+--------------------------------------+
| 16    | SMBus-Maxell                         |
+-------+--------------------------------------+
| 17    | Generator-Elec                       |
+-------+--------------------------------------+
| 18    | Generator-Fuel                       |
+-------+--------------------------------------+
| 19    | Rotoye                               |
+-------+--------------------------------------+
| 20    | MPPT                                 |
+-------+--------------------------------------+
| 21    | INA2XX                               |
+-------+--------------------------------------+
| 22    | LTC2946                              |
+-------+--------------------------------------+
| 23    | Torqeedo                             |
+-------+--------------------------------------+
| 24    | FuelLevelAnalog                      |
+-------+--------------------------------------+
| 25    | Synthetic Current and Analog Voltage |
+-------+--------------------------------------+




.. _BATT3_CAPACITY:

BATT3\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Capacity of the battery in mAh when full


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT3_SERIAL_NUM:

BATT3\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\.


.. _BATT3_LOW_TIMER:

BATT3\_LOW\_TIMER: Low voltage timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 120 | seconds |
+-----------+----------+---------+




.. _BATT3_FS_VOLTSRC:

BATT3\_FS\_VOLTSRC: Failsafe voltage source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage type used for detection of low voltage event


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Raw Voltage             |
+-------+-------------------------+
| 1     | Sag Compensated Voltage |
+-------+-------------------------+




.. _BATT3_LOW_VOLT:

BATT3\_LOW\_VOLT: Low battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT3_LOW_MAH:

BATT3\_LOW\_MAH: Low battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT3_CRT_VOLT:

BATT3\_CRT\_VOLT: Critical battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT3_CRT_MAH:

BATT3\_CRT\_MAH: Battery critical capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_\_FS\_CRT\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT3_FS_LOW_ACT:

BATT3\_FS\_LOW\_ACT: Low battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a low battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT3_FS_CRT_ACT:

BATT3\_FS\_CRT\_ACT: Critical battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a critical battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT3_ARM_VOLT:

BATT3\_ARM\_VOLT: Required arming voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT3_ARM_MAH:

BATT3\_ARM\_MAH: Required arming remaining capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT3\_\_ARM\_VOLT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT3_OPTIONS:

BATT3\_OPTIONS: Battery monitor options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the battery monitor


+-----+--------------------------------------------+
| Bit | Meaning                                    |
+=====+============================================+
| 0   | Ignore DroneCAN SoC                        |
+-----+--------------------------------------------+
| 1   | MPPT reports input voltage and current     |
+-----+--------------------------------------------+
| 2   | MPPT Powered off when disarmed             |
+-----+--------------------------------------------+
| 3   | MPPT Powered on when armed                 |
+-----+--------------------------------------------+
| 4   | MPPT Powered off at boot                   |
+-----+--------------------------------------------+
| 5   | MPPT Powered on at boot                    |
+-----+--------------------------------------------+
| 6   | Send resistance compensated voltage to GCS |
+-----+--------------------------------------------+




.. _BATT3_VOLT_PIN:

BATT3\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for voltage monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 2     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 5     | Navigator                            |
+-------+--------------------------------------+
| 13    | Pixhawk2_PM2/CubeOrange_PM2          |
+-------+--------------------------------------+
| 14    | CubeOrange                           |
+-------+--------------------------------------+
| 16    | Durandal                             |
+-------+--------------------------------------+
| 100   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT3_CURR_PIN:

BATT3\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for current monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 3     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 4     | CubeOrange_PM2/Navigator             |
+-------+--------------------------------------+
| 14    | Pixhawk2_PM2                         |
+-------+--------------------------------------+
| 15    | CubeOrange                           |
+-------+--------------------------------------+
| 17    | Durandal                             |
+-------+--------------------------------------+
| 101   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT3_VOLT_MULT:

BATT3\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to convert the voltage of the voltage sensing pin \(BATT3\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\.


.. _BATT3_AMP_PERVLT:

BATT3\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\.


+-----------------+
| Units           |
+=================+
| ampere per volt |
+-----------------+




.. _BATT3_AMP_OFFSET:

BATT3\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT3_VLT_OFFSET:

BATT3\_VLT\_OFFSET: Voltage offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT3_I2C_BUS:

BATT3\_I2C\_BUS: Battery monitor I2C bus number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C bus number


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _BATT3_I2C_ADDR:

BATT3\_I2C\_ADDR: Battery monitor I2C address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _BATT3_SUM_MASK:

BATT3\_SUM\_MASK: Battery Sum mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | monitor 1 |
+-----+-----------+
| 1   | monitor 2 |
+-----+-----------+
| 2   | monitor 3 |
+-----+-----------+
| 3   | monitor 4 |
+-----+-----------+
| 4   | monitor 5 |
+-----+-----------+
| 5   | monitor 6 |
+-----+-----------+
| 6   | monitor 7 |
+-----+-----------+
| 7   | monitor 8 |
+-----+-----------+
| 8   | monitor 9 |
+-----+-----------+




.. _BATT3_CURR_MULT:

BATT3\_CURR\_MULT: Scales reported power monitor current
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications


+----------+
| Range    |
+==========+
| .1 to 10 |
+----------+




.. _BATT3_FL_VLT_MIN:

BATT3\_FL\_VLT\_MIN: Empty fuel level voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+-------+
| Range      | Units |
+============+=======+
| 0.01 to 10 | volt  |
+------------+-------+




.. _BATT3_FL_V_MULT:

BATT3\_FL\_V\_MULT: Fuel level voltage multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+
| Range      |
+============+
| 0.01 to 10 |
+------------+




.. _BATT3_FL_FLTR:

BATT3\_FL\_FLTR: Fuel level filter frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\.


+---------+-------+
| Range   | Units |
+=========+=======+
| -1 to 1 | hertz |
+---------+-------+




.. _BATT3_FL_PIN:

BATT3\_FL\_PIN: Fuel level analog pin number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Analog input pin that fuel level sensor is connected to\. Airspeed ports can be used for Analog input\. When using analog pin 103\, the maximum value of the input in 3\.3V\.


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | Not Used                  |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _BATT3_MAX_VOLT:

BATT3\_MAX\_VOLT: Maximum Battery Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum voltage of battery\. Provides scaling of current versus voltage


+----------+
| Range    |
+==========+
| 7 to 100 |
+----------+





.. _parameters_BATT4_:

BATT4\_ Parameters
------------------


.. _BATT4_MONITOR:

BATT4\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls enabling monitoring of the battery\'s voltage and current


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| 0     | Disabled                             |
+-------+--------------------------------------+
| 3     | Analog Voltage Only                  |
+-------+--------------------------------------+
| 4     | Analog Voltage and Current           |
+-------+--------------------------------------+
| 5     | Solo                                 |
+-------+--------------------------------------+
| 6     | Bebop                                |
+-------+--------------------------------------+
| 7     | SMBus-Generic                        |
+-------+--------------------------------------+
| 8     | DroneCAN-BatteryInfo                 |
+-------+--------------------------------------+
| 9     | ESC                                  |
+-------+--------------------------------------+
| 10    | Sum Of Selected Monitors             |
+-------+--------------------------------------+
| 11    | FuelFlow                             |
+-------+--------------------------------------+
| 12    | FuelLevelPWM                         |
+-------+--------------------------------------+
| 13    | SMBUS-SUI3                           |
+-------+--------------------------------------+
| 14    | SMBUS-SUI6                           |
+-------+--------------------------------------+
| 15    | NeoDesign                            |
+-------+--------------------------------------+
| 16    | SMBus-Maxell                         |
+-------+--------------------------------------+
| 17    | Generator-Elec                       |
+-------+--------------------------------------+
| 18    | Generator-Fuel                       |
+-------+--------------------------------------+
| 19    | Rotoye                               |
+-------+--------------------------------------+
| 20    | MPPT                                 |
+-------+--------------------------------------+
| 21    | INA2XX                               |
+-------+--------------------------------------+
| 22    | LTC2946                              |
+-------+--------------------------------------+
| 23    | Torqeedo                             |
+-------+--------------------------------------+
| 24    | FuelLevelAnalog                      |
+-------+--------------------------------------+
| 25    | Synthetic Current and Analog Voltage |
+-------+--------------------------------------+




.. _BATT4_CAPACITY:

BATT4\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Capacity of the battery in mAh when full


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT4_SERIAL_NUM:

BATT4\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\.


.. _BATT4_LOW_TIMER:

BATT4\_LOW\_TIMER: Low voltage timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 120 | seconds |
+-----------+----------+---------+




.. _BATT4_FS_VOLTSRC:

BATT4\_FS\_VOLTSRC: Failsafe voltage source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage type used for detection of low voltage event


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Raw Voltage             |
+-------+-------------------------+
| 1     | Sag Compensated Voltage |
+-------+-------------------------+




.. _BATT4_LOW_VOLT:

BATT4\_LOW\_VOLT: Low battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT4_LOW_MAH:

BATT4\_LOW\_MAH: Low battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT4_CRT_VOLT:

BATT4\_CRT\_VOLT: Critical battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT4_CRT_MAH:

BATT4\_CRT\_MAH: Battery critical capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_\_FS\_CRT\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT4_FS_LOW_ACT:

BATT4\_FS\_LOW\_ACT: Low battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a low battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT4_FS_CRT_ACT:

BATT4\_FS\_CRT\_ACT: Critical battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a critical battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT4_ARM_VOLT:

BATT4\_ARM\_VOLT: Required arming voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT4_ARM_MAH:

BATT4\_ARM\_MAH: Required arming remaining capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT4\_\_ARM\_VOLT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT4_OPTIONS:

BATT4\_OPTIONS: Battery monitor options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the battery monitor


+-----+--------------------------------------------+
| Bit | Meaning                                    |
+=====+============================================+
| 0   | Ignore DroneCAN SoC                        |
+-----+--------------------------------------------+
| 1   | MPPT reports input voltage and current     |
+-----+--------------------------------------------+
| 2   | MPPT Powered off when disarmed             |
+-----+--------------------------------------------+
| 3   | MPPT Powered on when armed                 |
+-----+--------------------------------------------+
| 4   | MPPT Powered off at boot                   |
+-----+--------------------------------------------+
| 5   | MPPT Powered on at boot                    |
+-----+--------------------------------------------+
| 6   | Send resistance compensated voltage to GCS |
+-----+--------------------------------------------+




.. _BATT4_VOLT_PIN:

BATT4\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for voltage monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 2     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 5     | Navigator                            |
+-------+--------------------------------------+
| 13    | Pixhawk2_PM2/CubeOrange_PM2          |
+-------+--------------------------------------+
| 14    | CubeOrange                           |
+-------+--------------------------------------+
| 16    | Durandal                             |
+-------+--------------------------------------+
| 100   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT4_CURR_PIN:

BATT4\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for current monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 3     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 4     | CubeOrange_PM2/Navigator             |
+-------+--------------------------------------+
| 14    | Pixhawk2_PM2                         |
+-------+--------------------------------------+
| 15    | CubeOrange                           |
+-------+--------------------------------------+
| 17    | Durandal                             |
+-------+--------------------------------------+
| 101   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT4_VOLT_MULT:

BATT4\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to convert the voltage of the voltage sensing pin \(BATT4\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\.


.. _BATT4_AMP_PERVLT:

BATT4\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\.


+-----------------+
| Units           |
+=================+
| ampere per volt |
+-----------------+




.. _BATT4_AMP_OFFSET:

BATT4\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT4_VLT_OFFSET:

BATT4\_VLT\_OFFSET: Voltage offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT4_I2C_BUS:

BATT4\_I2C\_BUS: Battery monitor I2C bus number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C bus number


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _BATT4_I2C_ADDR:

BATT4\_I2C\_ADDR: Battery monitor I2C address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _BATT4_SUM_MASK:

BATT4\_SUM\_MASK: Battery Sum mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | monitor 1 |
+-----+-----------+
| 1   | monitor 2 |
+-----+-----------+
| 2   | monitor 3 |
+-----+-----------+
| 3   | monitor 4 |
+-----+-----------+
| 4   | monitor 5 |
+-----+-----------+
| 5   | monitor 6 |
+-----+-----------+
| 6   | monitor 7 |
+-----+-----------+
| 7   | monitor 8 |
+-----+-----------+
| 8   | monitor 9 |
+-----+-----------+




.. _BATT4_CURR_MULT:

BATT4\_CURR\_MULT: Scales reported power monitor current
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications


+----------+
| Range    |
+==========+
| .1 to 10 |
+----------+




.. _BATT4_FL_VLT_MIN:

BATT4\_FL\_VLT\_MIN: Empty fuel level voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+-------+
| Range      | Units |
+============+=======+
| 0.01 to 10 | volt  |
+------------+-------+




.. _BATT4_FL_V_MULT:

BATT4\_FL\_V\_MULT: Fuel level voltage multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+
| Range      |
+============+
| 0.01 to 10 |
+------------+




.. _BATT4_FL_FLTR:

BATT4\_FL\_FLTR: Fuel level filter frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\.


+---------+-------+
| Range   | Units |
+=========+=======+
| -1 to 1 | hertz |
+---------+-------+




.. _BATT4_FL_PIN:

BATT4\_FL\_PIN: Fuel level analog pin number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Analog input pin that fuel level sensor is connected to\. Airspeed ports can be used for Analog input\. When using analog pin 103\, the maximum value of the input in 3\.3V\.


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | Not Used                  |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _BATT4_MAX_VOLT:

BATT4\_MAX\_VOLT: Maximum Battery Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum voltage of battery\. Provides scaling of current versus voltage


+----------+
| Range    |
+==========+
| 7 to 100 |
+----------+





.. _parameters_BATT5_:

BATT5\_ Parameters
------------------


.. _BATT5_MONITOR:

BATT5\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls enabling monitoring of the battery\'s voltage and current


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| 0     | Disabled                             |
+-------+--------------------------------------+
| 3     | Analog Voltage Only                  |
+-------+--------------------------------------+
| 4     | Analog Voltage and Current           |
+-------+--------------------------------------+
| 5     | Solo                                 |
+-------+--------------------------------------+
| 6     | Bebop                                |
+-------+--------------------------------------+
| 7     | SMBus-Generic                        |
+-------+--------------------------------------+
| 8     | DroneCAN-BatteryInfo                 |
+-------+--------------------------------------+
| 9     | ESC                                  |
+-------+--------------------------------------+
| 10    | Sum Of Selected Monitors             |
+-------+--------------------------------------+
| 11    | FuelFlow                             |
+-------+--------------------------------------+
| 12    | FuelLevelPWM                         |
+-------+--------------------------------------+
| 13    | SMBUS-SUI3                           |
+-------+--------------------------------------+
| 14    | SMBUS-SUI6                           |
+-------+--------------------------------------+
| 15    | NeoDesign                            |
+-------+--------------------------------------+
| 16    | SMBus-Maxell                         |
+-------+--------------------------------------+
| 17    | Generator-Elec                       |
+-------+--------------------------------------+
| 18    | Generator-Fuel                       |
+-------+--------------------------------------+
| 19    | Rotoye                               |
+-------+--------------------------------------+
| 20    | MPPT                                 |
+-------+--------------------------------------+
| 21    | INA2XX                               |
+-------+--------------------------------------+
| 22    | LTC2946                              |
+-------+--------------------------------------+
| 23    | Torqeedo                             |
+-------+--------------------------------------+
| 24    | FuelLevelAnalog                      |
+-------+--------------------------------------+
| 25    | Synthetic Current and Analog Voltage |
+-------+--------------------------------------+




.. _BATT5_CAPACITY:

BATT5\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Capacity of the battery in mAh when full


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT5_SERIAL_NUM:

BATT5\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\.


.. _BATT5_LOW_TIMER:

BATT5\_LOW\_TIMER: Low voltage timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 120 | seconds |
+-----------+----------+---------+




.. _BATT5_FS_VOLTSRC:

BATT5\_FS\_VOLTSRC: Failsafe voltage source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage type used for detection of low voltage event


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Raw Voltage             |
+-------+-------------------------+
| 1     | Sag Compensated Voltage |
+-------+-------------------------+




.. _BATT5_LOW_VOLT:

BATT5\_LOW\_VOLT: Low battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT5_LOW_MAH:

BATT5\_LOW\_MAH: Low battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT5_CRT_VOLT:

BATT5\_CRT\_VOLT: Critical battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT5_CRT_MAH:

BATT5\_CRT\_MAH: Battery critical capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_\_FS\_CRT\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT5_FS_LOW_ACT:

BATT5\_FS\_LOW\_ACT: Low battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a low battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT5_FS_CRT_ACT:

BATT5\_FS\_CRT\_ACT: Critical battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a critical battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT5_ARM_VOLT:

BATT5\_ARM\_VOLT: Required arming voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT5_ARM_MAH:

BATT5\_ARM\_MAH: Required arming remaining capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT5\_\_ARM\_VOLT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT5_OPTIONS:

BATT5\_OPTIONS: Battery monitor options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the battery monitor


+-----+--------------------------------------------+
| Bit | Meaning                                    |
+=====+============================================+
| 0   | Ignore DroneCAN SoC                        |
+-----+--------------------------------------------+
| 1   | MPPT reports input voltage and current     |
+-----+--------------------------------------------+
| 2   | MPPT Powered off when disarmed             |
+-----+--------------------------------------------+
| 3   | MPPT Powered on when armed                 |
+-----+--------------------------------------------+
| 4   | MPPT Powered off at boot                   |
+-----+--------------------------------------------+
| 5   | MPPT Powered on at boot                    |
+-----+--------------------------------------------+
| 6   | Send resistance compensated voltage to GCS |
+-----+--------------------------------------------+




.. _BATT5_VOLT_PIN:

BATT5\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for voltage monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 2     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 5     | Navigator                            |
+-------+--------------------------------------+
| 13    | Pixhawk2_PM2/CubeOrange_PM2          |
+-------+--------------------------------------+
| 14    | CubeOrange                           |
+-------+--------------------------------------+
| 16    | Durandal                             |
+-------+--------------------------------------+
| 100   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT5_CURR_PIN:

BATT5\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for current monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 3     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 4     | CubeOrange_PM2/Navigator             |
+-------+--------------------------------------+
| 14    | Pixhawk2_PM2                         |
+-------+--------------------------------------+
| 15    | CubeOrange                           |
+-------+--------------------------------------+
| 17    | Durandal                             |
+-------+--------------------------------------+
| 101   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT5_VOLT_MULT:

BATT5\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to convert the voltage of the voltage sensing pin \(BATT5\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\.


.. _BATT5_AMP_PERVLT:

BATT5\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\.


+-----------------+
| Units           |
+=================+
| ampere per volt |
+-----------------+




.. _BATT5_AMP_OFFSET:

BATT5\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT5_VLT_OFFSET:

BATT5\_VLT\_OFFSET: Voltage offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT5_I2C_BUS:

BATT5\_I2C\_BUS: Battery monitor I2C bus number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C bus number


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _BATT5_I2C_ADDR:

BATT5\_I2C\_ADDR: Battery monitor I2C address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _BATT5_SUM_MASK:

BATT5\_SUM\_MASK: Battery Sum mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | monitor 1 |
+-----+-----------+
| 1   | monitor 2 |
+-----+-----------+
| 2   | monitor 3 |
+-----+-----------+
| 3   | monitor 4 |
+-----+-----------+
| 4   | monitor 5 |
+-----+-----------+
| 5   | monitor 6 |
+-----+-----------+
| 6   | monitor 7 |
+-----+-----------+
| 7   | monitor 8 |
+-----+-----------+
| 8   | monitor 9 |
+-----+-----------+




.. _BATT5_CURR_MULT:

BATT5\_CURR\_MULT: Scales reported power monitor current
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications


+----------+
| Range    |
+==========+
| .1 to 10 |
+----------+




.. _BATT5_FL_VLT_MIN:

BATT5\_FL\_VLT\_MIN: Empty fuel level voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+-------+
| Range      | Units |
+============+=======+
| 0.01 to 10 | volt  |
+------------+-------+




.. _BATT5_FL_V_MULT:

BATT5\_FL\_V\_MULT: Fuel level voltage multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+
| Range      |
+============+
| 0.01 to 10 |
+------------+




.. _BATT5_FL_FLTR:

BATT5\_FL\_FLTR: Fuel level filter frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\.


+---------+-------+
| Range   | Units |
+=========+=======+
| -1 to 1 | hertz |
+---------+-------+




.. _BATT5_FL_PIN:

BATT5\_FL\_PIN: Fuel level analog pin number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Analog input pin that fuel level sensor is connected to\. Airspeed ports can be used for Analog input\. When using analog pin 103\, the maximum value of the input in 3\.3V\.


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | Not Used                  |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _BATT5_MAX_VOLT:

BATT5\_MAX\_VOLT: Maximum Battery Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum voltage of battery\. Provides scaling of current versus voltage


+----------+
| Range    |
+==========+
| 7 to 100 |
+----------+





.. _parameters_BATT6_:

BATT6\_ Parameters
------------------


.. _BATT6_MONITOR:

BATT6\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls enabling monitoring of the battery\'s voltage and current


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| 0     | Disabled                             |
+-------+--------------------------------------+
| 3     | Analog Voltage Only                  |
+-------+--------------------------------------+
| 4     | Analog Voltage and Current           |
+-------+--------------------------------------+
| 5     | Solo                                 |
+-------+--------------------------------------+
| 6     | Bebop                                |
+-------+--------------------------------------+
| 7     | SMBus-Generic                        |
+-------+--------------------------------------+
| 8     | DroneCAN-BatteryInfo                 |
+-------+--------------------------------------+
| 9     | ESC                                  |
+-------+--------------------------------------+
| 10    | Sum Of Selected Monitors             |
+-------+--------------------------------------+
| 11    | FuelFlow                             |
+-------+--------------------------------------+
| 12    | FuelLevelPWM                         |
+-------+--------------------------------------+
| 13    | SMBUS-SUI3                           |
+-------+--------------------------------------+
| 14    | SMBUS-SUI6                           |
+-------+--------------------------------------+
| 15    | NeoDesign                            |
+-------+--------------------------------------+
| 16    | SMBus-Maxell                         |
+-------+--------------------------------------+
| 17    | Generator-Elec                       |
+-------+--------------------------------------+
| 18    | Generator-Fuel                       |
+-------+--------------------------------------+
| 19    | Rotoye                               |
+-------+--------------------------------------+
| 20    | MPPT                                 |
+-------+--------------------------------------+
| 21    | INA2XX                               |
+-------+--------------------------------------+
| 22    | LTC2946                              |
+-------+--------------------------------------+
| 23    | Torqeedo                             |
+-------+--------------------------------------+
| 24    | FuelLevelAnalog                      |
+-------+--------------------------------------+
| 25    | Synthetic Current and Analog Voltage |
+-------+--------------------------------------+




.. _BATT6_CAPACITY:

BATT6\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Capacity of the battery in mAh when full


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT6_SERIAL_NUM:

BATT6\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\.


.. _BATT6_LOW_TIMER:

BATT6\_LOW\_TIMER: Low voltage timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 120 | seconds |
+-----------+----------+---------+




.. _BATT6_FS_VOLTSRC:

BATT6\_FS\_VOLTSRC: Failsafe voltage source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage type used for detection of low voltage event


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Raw Voltage             |
+-------+-------------------------+
| 1     | Sag Compensated Voltage |
+-------+-------------------------+




.. _BATT6_LOW_VOLT:

BATT6\_LOW\_VOLT: Low battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT6_LOW_MAH:

BATT6\_LOW\_MAH: Low battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT6_CRT_VOLT:

BATT6\_CRT\_VOLT: Critical battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT6_CRT_MAH:

BATT6\_CRT\_MAH: Battery critical capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_\_FS\_CRT\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT6_FS_LOW_ACT:

BATT6\_FS\_LOW\_ACT: Low battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a low battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT6_FS_CRT_ACT:

BATT6\_FS\_CRT\_ACT: Critical battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a critical battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT6_ARM_VOLT:

BATT6\_ARM\_VOLT: Required arming voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT6_ARM_MAH:

BATT6\_ARM\_MAH: Required arming remaining capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT6\_\_ARM\_VOLT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT6_OPTIONS:

BATT6\_OPTIONS: Battery monitor options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the battery monitor


+-----+--------------------------------------------+
| Bit | Meaning                                    |
+=====+============================================+
| 0   | Ignore DroneCAN SoC                        |
+-----+--------------------------------------------+
| 1   | MPPT reports input voltage and current     |
+-----+--------------------------------------------+
| 2   | MPPT Powered off when disarmed             |
+-----+--------------------------------------------+
| 3   | MPPT Powered on when armed                 |
+-----+--------------------------------------------+
| 4   | MPPT Powered off at boot                   |
+-----+--------------------------------------------+
| 5   | MPPT Powered on at boot                    |
+-----+--------------------------------------------+
| 6   | Send resistance compensated voltage to GCS |
+-----+--------------------------------------------+




.. _BATT6_VOLT_PIN:

BATT6\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for voltage monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 2     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 5     | Navigator                            |
+-------+--------------------------------------+
| 13    | Pixhawk2_PM2/CubeOrange_PM2          |
+-------+--------------------------------------+
| 14    | CubeOrange                           |
+-------+--------------------------------------+
| 16    | Durandal                             |
+-------+--------------------------------------+
| 100   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT6_CURR_PIN:

BATT6\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for current monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 3     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 4     | CubeOrange_PM2/Navigator             |
+-------+--------------------------------------+
| 14    | Pixhawk2_PM2                         |
+-------+--------------------------------------+
| 15    | CubeOrange                           |
+-------+--------------------------------------+
| 17    | Durandal                             |
+-------+--------------------------------------+
| 101   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT6_VOLT_MULT:

BATT6\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to convert the voltage of the voltage sensing pin \(BATT6\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\.


.. _BATT6_AMP_PERVLT:

BATT6\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\.


+-----------------+
| Units           |
+=================+
| ampere per volt |
+-----------------+




.. _BATT6_AMP_OFFSET:

BATT6\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT6_VLT_OFFSET:

BATT6\_VLT\_OFFSET: Voltage offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT6_I2C_BUS:

BATT6\_I2C\_BUS: Battery monitor I2C bus number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C bus number


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _BATT6_I2C_ADDR:

BATT6\_I2C\_ADDR: Battery monitor I2C address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _BATT6_SUM_MASK:

BATT6\_SUM\_MASK: Battery Sum mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | monitor 1 |
+-----+-----------+
| 1   | monitor 2 |
+-----+-----------+
| 2   | monitor 3 |
+-----+-----------+
| 3   | monitor 4 |
+-----+-----------+
| 4   | monitor 5 |
+-----+-----------+
| 5   | monitor 6 |
+-----+-----------+
| 6   | monitor 7 |
+-----+-----------+
| 7   | monitor 8 |
+-----+-----------+
| 8   | monitor 9 |
+-----+-----------+




.. _BATT6_CURR_MULT:

BATT6\_CURR\_MULT: Scales reported power monitor current
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications


+----------+
| Range    |
+==========+
| .1 to 10 |
+----------+




.. _BATT6_FL_VLT_MIN:

BATT6\_FL\_VLT\_MIN: Empty fuel level voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+-------+
| Range      | Units |
+============+=======+
| 0.01 to 10 | volt  |
+------------+-------+




.. _BATT6_FL_V_MULT:

BATT6\_FL\_V\_MULT: Fuel level voltage multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+
| Range      |
+============+
| 0.01 to 10 |
+------------+




.. _BATT6_FL_FLTR:

BATT6\_FL\_FLTR: Fuel level filter frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\.


+---------+-------+
| Range   | Units |
+=========+=======+
| -1 to 1 | hertz |
+---------+-------+




.. _BATT6_FL_PIN:

BATT6\_FL\_PIN: Fuel level analog pin number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Analog input pin that fuel level sensor is connected to\. Airspeed ports can be used for Analog input\. When using analog pin 103\, the maximum value of the input in 3\.3V\.


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | Not Used                  |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _BATT6_MAX_VOLT:

BATT6\_MAX\_VOLT: Maximum Battery Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum voltage of battery\. Provides scaling of current versus voltage


+----------+
| Range    |
+==========+
| 7 to 100 |
+----------+





.. _parameters_BATT7_:

BATT7\_ Parameters
------------------


.. _BATT7_MONITOR:

BATT7\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls enabling monitoring of the battery\'s voltage and current


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| 0     | Disabled                             |
+-------+--------------------------------------+
| 3     | Analog Voltage Only                  |
+-------+--------------------------------------+
| 4     | Analog Voltage and Current           |
+-------+--------------------------------------+
| 5     | Solo                                 |
+-------+--------------------------------------+
| 6     | Bebop                                |
+-------+--------------------------------------+
| 7     | SMBus-Generic                        |
+-------+--------------------------------------+
| 8     | DroneCAN-BatteryInfo                 |
+-------+--------------------------------------+
| 9     | ESC                                  |
+-------+--------------------------------------+
| 10    | Sum Of Selected Monitors             |
+-------+--------------------------------------+
| 11    | FuelFlow                             |
+-------+--------------------------------------+
| 12    | FuelLevelPWM                         |
+-------+--------------------------------------+
| 13    | SMBUS-SUI3                           |
+-------+--------------------------------------+
| 14    | SMBUS-SUI6                           |
+-------+--------------------------------------+
| 15    | NeoDesign                            |
+-------+--------------------------------------+
| 16    | SMBus-Maxell                         |
+-------+--------------------------------------+
| 17    | Generator-Elec                       |
+-------+--------------------------------------+
| 18    | Generator-Fuel                       |
+-------+--------------------------------------+
| 19    | Rotoye                               |
+-------+--------------------------------------+
| 20    | MPPT                                 |
+-------+--------------------------------------+
| 21    | INA2XX                               |
+-------+--------------------------------------+
| 22    | LTC2946                              |
+-------+--------------------------------------+
| 23    | Torqeedo                             |
+-------+--------------------------------------+
| 24    | FuelLevelAnalog                      |
+-------+--------------------------------------+
| 25    | Synthetic Current and Analog Voltage |
+-------+--------------------------------------+




.. _BATT7_CAPACITY:

BATT7\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Capacity of the battery in mAh when full


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT7_SERIAL_NUM:

BATT7\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\.


.. _BATT7_LOW_TIMER:

BATT7\_LOW\_TIMER: Low voltage timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 120 | seconds |
+-----------+----------+---------+




.. _BATT7_FS_VOLTSRC:

BATT7\_FS\_VOLTSRC: Failsafe voltage source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage type used for detection of low voltage event


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Raw Voltage             |
+-------+-------------------------+
| 1     | Sag Compensated Voltage |
+-------+-------------------------+




.. _BATT7_LOW_VOLT:

BATT7\_LOW\_VOLT: Low battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT7_LOW_MAH:

BATT7\_LOW\_MAH: Low battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT7_CRT_VOLT:

BATT7\_CRT\_VOLT: Critical battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT7_CRT_MAH:

BATT7\_CRT\_MAH: Battery critical capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_\_FS\_CRT\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT7_FS_LOW_ACT:

BATT7\_FS\_LOW\_ACT: Low battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a low battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT7_FS_CRT_ACT:

BATT7\_FS\_CRT\_ACT: Critical battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a critical battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT7_ARM_VOLT:

BATT7\_ARM\_VOLT: Required arming voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT7_ARM_MAH:

BATT7\_ARM\_MAH: Required arming remaining capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT7\_\_ARM\_VOLT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT7_OPTIONS:

BATT7\_OPTIONS: Battery monitor options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the battery monitor


+-----+--------------------------------------------+
| Bit | Meaning                                    |
+=====+============================================+
| 0   | Ignore DroneCAN SoC                        |
+-----+--------------------------------------------+
| 1   | MPPT reports input voltage and current     |
+-----+--------------------------------------------+
| 2   | MPPT Powered off when disarmed             |
+-----+--------------------------------------------+
| 3   | MPPT Powered on when armed                 |
+-----+--------------------------------------------+
| 4   | MPPT Powered off at boot                   |
+-----+--------------------------------------------+
| 5   | MPPT Powered on at boot                    |
+-----+--------------------------------------------+
| 6   | Send resistance compensated voltage to GCS |
+-----+--------------------------------------------+




.. _BATT7_VOLT_PIN:

BATT7\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for voltage monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 2     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 5     | Navigator                            |
+-------+--------------------------------------+
| 13    | Pixhawk2_PM2/CubeOrange_PM2          |
+-------+--------------------------------------+
| 14    | CubeOrange                           |
+-------+--------------------------------------+
| 16    | Durandal                             |
+-------+--------------------------------------+
| 100   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT7_CURR_PIN:

BATT7\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for current monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 3     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 4     | CubeOrange_PM2/Navigator             |
+-------+--------------------------------------+
| 14    | Pixhawk2_PM2                         |
+-------+--------------------------------------+
| 15    | CubeOrange                           |
+-------+--------------------------------------+
| 17    | Durandal                             |
+-------+--------------------------------------+
| 101   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT7_VOLT_MULT:

BATT7\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to convert the voltage of the voltage sensing pin \(BATT7\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\.


.. _BATT7_AMP_PERVLT:

BATT7\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\.


+-----------------+
| Units           |
+=================+
| ampere per volt |
+-----------------+




.. _BATT7_AMP_OFFSET:

BATT7\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT7_VLT_OFFSET:

BATT7\_VLT\_OFFSET: Voltage offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT7_I2C_BUS:

BATT7\_I2C\_BUS: Battery monitor I2C bus number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C bus number


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _BATT7_I2C_ADDR:

BATT7\_I2C\_ADDR: Battery monitor I2C address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _BATT7_SUM_MASK:

BATT7\_SUM\_MASK: Battery Sum mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | monitor 1 |
+-----+-----------+
| 1   | monitor 2 |
+-----+-----------+
| 2   | monitor 3 |
+-----+-----------+
| 3   | monitor 4 |
+-----+-----------+
| 4   | monitor 5 |
+-----+-----------+
| 5   | monitor 6 |
+-----+-----------+
| 6   | monitor 7 |
+-----+-----------+
| 7   | monitor 8 |
+-----+-----------+
| 8   | monitor 9 |
+-----+-----------+




.. _BATT7_CURR_MULT:

BATT7\_CURR\_MULT: Scales reported power monitor current
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications


+----------+
| Range    |
+==========+
| .1 to 10 |
+----------+




.. _BATT7_FL_VLT_MIN:

BATT7\_FL\_VLT\_MIN: Empty fuel level voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+-------+
| Range      | Units |
+============+=======+
| 0.01 to 10 | volt  |
+------------+-------+




.. _BATT7_FL_V_MULT:

BATT7\_FL\_V\_MULT: Fuel level voltage multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+
| Range      |
+============+
| 0.01 to 10 |
+------------+




.. _BATT7_FL_FLTR:

BATT7\_FL\_FLTR: Fuel level filter frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\.


+---------+-------+
| Range   | Units |
+=========+=======+
| -1 to 1 | hertz |
+---------+-------+




.. _BATT7_FL_PIN:

BATT7\_FL\_PIN: Fuel level analog pin number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Analog input pin that fuel level sensor is connected to\. Airspeed ports can be used for Analog input\. When using analog pin 103\, the maximum value of the input in 3\.3V\.


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | Not Used                  |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _BATT7_MAX_VOLT:

BATT7\_MAX\_VOLT: Maximum Battery Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum voltage of battery\. Provides scaling of current versus voltage


+----------+
| Range    |
+==========+
| 7 to 100 |
+----------+





.. _parameters_BATT8_:

BATT8\_ Parameters
------------------


.. _BATT8_MONITOR:

BATT8\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls enabling monitoring of the battery\'s voltage and current


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| 0     | Disabled                             |
+-------+--------------------------------------+
| 3     | Analog Voltage Only                  |
+-------+--------------------------------------+
| 4     | Analog Voltage and Current           |
+-------+--------------------------------------+
| 5     | Solo                                 |
+-------+--------------------------------------+
| 6     | Bebop                                |
+-------+--------------------------------------+
| 7     | SMBus-Generic                        |
+-------+--------------------------------------+
| 8     | DroneCAN-BatteryInfo                 |
+-------+--------------------------------------+
| 9     | ESC                                  |
+-------+--------------------------------------+
| 10    | Sum Of Selected Monitors             |
+-------+--------------------------------------+
| 11    | FuelFlow                             |
+-------+--------------------------------------+
| 12    | FuelLevelPWM                         |
+-------+--------------------------------------+
| 13    | SMBUS-SUI3                           |
+-------+--------------------------------------+
| 14    | SMBUS-SUI6                           |
+-------+--------------------------------------+
| 15    | NeoDesign                            |
+-------+--------------------------------------+
| 16    | SMBus-Maxell                         |
+-------+--------------------------------------+
| 17    | Generator-Elec                       |
+-------+--------------------------------------+
| 18    | Generator-Fuel                       |
+-------+--------------------------------------+
| 19    | Rotoye                               |
+-------+--------------------------------------+
| 20    | MPPT                                 |
+-------+--------------------------------------+
| 21    | INA2XX                               |
+-------+--------------------------------------+
| 22    | LTC2946                              |
+-------+--------------------------------------+
| 23    | Torqeedo                             |
+-------+--------------------------------------+
| 24    | FuelLevelAnalog                      |
+-------+--------------------------------------+
| 25    | Synthetic Current and Analog Voltage |
+-------+--------------------------------------+




.. _BATT8_CAPACITY:

BATT8\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Capacity of the battery in mAh when full


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT8_SERIAL_NUM:

BATT8\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\.


.. _BATT8_LOW_TIMER:

BATT8\_LOW\_TIMER: Low voltage timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 120 | seconds |
+-----------+----------+---------+




.. _BATT8_FS_VOLTSRC:

BATT8\_FS\_VOLTSRC: Failsafe voltage source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage type used for detection of low voltage event


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Raw Voltage             |
+-------+-------------------------+
| 1     | Sag Compensated Voltage |
+-------+-------------------------+




.. _BATT8_LOW_VOLT:

BATT8\_LOW\_VOLT: Low battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT8_LOW_MAH:

BATT8\_LOW\_MAH: Low battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT8_CRT_VOLT:

BATT8\_CRT\_VOLT: Critical battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT8_CRT_MAH:

BATT8\_CRT\_MAH: Battery critical capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_\_FS\_CRT\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT8_FS_LOW_ACT:

BATT8\_FS\_LOW\_ACT: Low battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a low battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT8_FS_CRT_ACT:

BATT8\_FS\_CRT\_ACT: Critical battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a critical battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT8_ARM_VOLT:

BATT8\_ARM\_VOLT: Required arming voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT8_ARM_MAH:

BATT8\_ARM\_MAH: Required arming remaining capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT8\_\_ARM\_VOLT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT8_OPTIONS:

BATT8\_OPTIONS: Battery monitor options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the battery monitor


+-----+--------------------------------------------+
| Bit | Meaning                                    |
+=====+============================================+
| 0   | Ignore DroneCAN SoC                        |
+-----+--------------------------------------------+
| 1   | MPPT reports input voltage and current     |
+-----+--------------------------------------------+
| 2   | MPPT Powered off when disarmed             |
+-----+--------------------------------------------+
| 3   | MPPT Powered on when armed                 |
+-----+--------------------------------------------+
| 4   | MPPT Powered off at boot                   |
+-----+--------------------------------------------+
| 5   | MPPT Powered on at boot                    |
+-----+--------------------------------------------+
| 6   | Send resistance compensated voltage to GCS |
+-----+--------------------------------------------+




.. _BATT8_VOLT_PIN:

BATT8\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for voltage monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 2     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 5     | Navigator                            |
+-------+--------------------------------------+
| 13    | Pixhawk2_PM2/CubeOrange_PM2          |
+-------+--------------------------------------+
| 14    | CubeOrange                           |
+-------+--------------------------------------+
| 16    | Durandal                             |
+-------+--------------------------------------+
| 100   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT8_CURR_PIN:

BATT8\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for current monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 3     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 4     | CubeOrange_PM2/Navigator             |
+-------+--------------------------------------+
| 14    | Pixhawk2_PM2                         |
+-------+--------------------------------------+
| 15    | CubeOrange                           |
+-------+--------------------------------------+
| 17    | Durandal                             |
+-------+--------------------------------------+
| 101   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT8_VOLT_MULT:

BATT8\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to convert the voltage of the voltage sensing pin \(BATT8\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\.


.. _BATT8_AMP_PERVLT:

BATT8\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\.


+-----------------+
| Units           |
+=================+
| ampere per volt |
+-----------------+




.. _BATT8_AMP_OFFSET:

BATT8\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT8_VLT_OFFSET:

BATT8\_VLT\_OFFSET: Voltage offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT8_I2C_BUS:

BATT8\_I2C\_BUS: Battery monitor I2C bus number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C bus number


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _BATT8_I2C_ADDR:

BATT8\_I2C\_ADDR: Battery monitor I2C address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _BATT8_SUM_MASK:

BATT8\_SUM\_MASK: Battery Sum mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | monitor 1 |
+-----+-----------+
| 1   | monitor 2 |
+-----+-----------+
| 2   | monitor 3 |
+-----+-----------+
| 3   | monitor 4 |
+-----+-----------+
| 4   | monitor 5 |
+-----+-----------+
| 5   | monitor 6 |
+-----+-----------+
| 6   | monitor 7 |
+-----+-----------+
| 7   | monitor 8 |
+-----+-----------+
| 8   | monitor 9 |
+-----+-----------+




.. _BATT8_CURR_MULT:

BATT8\_CURR\_MULT: Scales reported power monitor current
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications


+----------+
| Range    |
+==========+
| .1 to 10 |
+----------+




.. _BATT8_FL_VLT_MIN:

BATT8\_FL\_VLT\_MIN: Empty fuel level voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+-------+
| Range      | Units |
+============+=======+
| 0.01 to 10 | volt  |
+------------+-------+




.. _BATT8_FL_V_MULT:

BATT8\_FL\_V\_MULT: Fuel level voltage multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+
| Range      |
+============+
| 0.01 to 10 |
+------------+




.. _BATT8_FL_FLTR:

BATT8\_FL\_FLTR: Fuel level filter frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\.


+---------+-------+
| Range   | Units |
+=========+=======+
| -1 to 1 | hertz |
+---------+-------+




.. _BATT8_FL_PIN:

BATT8\_FL\_PIN: Fuel level analog pin number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Analog input pin that fuel level sensor is connected to\. Airspeed ports can be used for Analog input\. When using analog pin 103\, the maximum value of the input in 3\.3V\.


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | Not Used                  |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _BATT8_MAX_VOLT:

BATT8\_MAX\_VOLT: Maximum Battery Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum voltage of battery\. Provides scaling of current versus voltage


+----------+
| Range    |
+==========+
| 7 to 100 |
+----------+





.. _parameters_BATT9_:

BATT9\_ Parameters
------------------


.. _BATT9_MONITOR:

BATT9\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls enabling monitoring of the battery\'s voltage and current


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| 0     | Disabled                             |
+-------+--------------------------------------+
| 3     | Analog Voltage Only                  |
+-------+--------------------------------------+
| 4     | Analog Voltage and Current           |
+-------+--------------------------------------+
| 5     | Solo                                 |
+-------+--------------------------------------+
| 6     | Bebop                                |
+-------+--------------------------------------+
| 7     | SMBus-Generic                        |
+-------+--------------------------------------+
| 8     | DroneCAN-BatteryInfo                 |
+-------+--------------------------------------+
| 9     | ESC                                  |
+-------+--------------------------------------+
| 10    | Sum Of Selected Monitors             |
+-------+--------------------------------------+
| 11    | FuelFlow                             |
+-------+--------------------------------------+
| 12    | FuelLevelPWM                         |
+-------+--------------------------------------+
| 13    | SMBUS-SUI3                           |
+-------+--------------------------------------+
| 14    | SMBUS-SUI6                           |
+-------+--------------------------------------+
| 15    | NeoDesign                            |
+-------+--------------------------------------+
| 16    | SMBus-Maxell                         |
+-------+--------------------------------------+
| 17    | Generator-Elec                       |
+-------+--------------------------------------+
| 18    | Generator-Fuel                       |
+-------+--------------------------------------+
| 19    | Rotoye                               |
+-------+--------------------------------------+
| 20    | MPPT                                 |
+-------+--------------------------------------+
| 21    | INA2XX                               |
+-------+--------------------------------------+
| 22    | LTC2946                              |
+-------+--------------------------------------+
| 23    | Torqeedo                             |
+-------+--------------------------------------+
| 24    | FuelLevelAnalog                      |
+-------+--------------------------------------+
| 25    | Synthetic Current and Analog Voltage |
+-------+--------------------------------------+




.. _BATT9_CAPACITY:

BATT9\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Capacity of the battery in mAh when full


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT9_SERIAL_NUM:

BATT9\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\.


.. _BATT9_LOW_TIMER:

BATT9\_LOW\_TIMER: Low voltage timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 120 | seconds |
+-----------+----------+---------+




.. _BATT9_FS_VOLTSRC:

BATT9\_FS\_VOLTSRC: Failsafe voltage source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage type used for detection of low voltage event


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Raw Voltage             |
+-------+-------------------------+
| 1     | Sag Compensated Voltage |
+-------+-------------------------+




.. _BATT9_LOW_VOLT:

BATT9\_LOW\_VOLT: Low battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT9_LOW_MAH:

BATT9\_LOW\_MAH: Low battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT9_CRT_VOLT:

BATT9\_CRT\_VOLT: Critical battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT9_CRT_MAH:

BATT9\_CRT\_MAH: Battery critical capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_\_FS\_CRT\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT9_FS_LOW_ACT:

BATT9\_FS\_LOW\_ACT: Low battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a low battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT9_FS_CRT_ACT:

BATT9\_FS\_CRT\_ACT: Critical battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a critical battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT9_ARM_VOLT:

BATT9\_ARM\_VOLT: Required arming voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT9_ARM_MAH:

BATT9\_ARM\_MAH: Required arming remaining capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT9\_\_ARM\_VOLT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT9_OPTIONS:

BATT9\_OPTIONS: Battery monitor options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the battery monitor


+-----+--------------------------------------------+
| Bit | Meaning                                    |
+=====+============================================+
| 0   | Ignore DroneCAN SoC                        |
+-----+--------------------------------------------+
| 1   | MPPT reports input voltage and current     |
+-----+--------------------------------------------+
| 2   | MPPT Powered off when disarmed             |
+-----+--------------------------------------------+
| 3   | MPPT Powered on when armed                 |
+-----+--------------------------------------------+
| 4   | MPPT Powered off at boot                   |
+-----+--------------------------------------------+
| 5   | MPPT Powered on at boot                    |
+-----+--------------------------------------------+
| 6   | Send resistance compensated voltage to GCS |
+-----+--------------------------------------------+




.. _BATT9_VOLT_PIN:

BATT9\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for voltage monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 2     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 5     | Navigator                            |
+-------+--------------------------------------+
| 13    | Pixhawk2_PM2/CubeOrange_PM2          |
+-------+--------------------------------------+
| 14    | CubeOrange                           |
+-------+--------------------------------------+
| 16    | Durandal                             |
+-------+--------------------------------------+
| 100   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT9_CURR_PIN:

BATT9\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for current monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 3     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 4     | CubeOrange_PM2/Navigator             |
+-------+--------------------------------------+
| 14    | Pixhawk2_PM2                         |
+-------+--------------------------------------+
| 15    | CubeOrange                           |
+-------+--------------------------------------+
| 17    | Durandal                             |
+-------+--------------------------------------+
| 101   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT9_VOLT_MULT:

BATT9\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to convert the voltage of the voltage sensing pin \(BATT9\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\.


.. _BATT9_AMP_PERVLT:

BATT9\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\.


+-----------------+
| Units           |
+=================+
| ampere per volt |
+-----------------+




.. _BATT9_AMP_OFFSET:

BATT9\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT9_VLT_OFFSET:

BATT9\_VLT\_OFFSET: Voltage offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT9_I2C_BUS:

BATT9\_I2C\_BUS: Battery monitor I2C bus number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C bus number


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _BATT9_I2C_ADDR:

BATT9\_I2C\_ADDR: Battery monitor I2C address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _BATT9_SUM_MASK:

BATT9\_SUM\_MASK: Battery Sum mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | monitor 1 |
+-----+-----------+
| 1   | monitor 2 |
+-----+-----------+
| 2   | monitor 3 |
+-----+-----------+
| 3   | monitor 4 |
+-----+-----------+
| 4   | monitor 5 |
+-----+-----------+
| 5   | monitor 6 |
+-----+-----------+
| 6   | monitor 7 |
+-----+-----------+
| 7   | monitor 8 |
+-----+-----------+
| 8   | monitor 9 |
+-----+-----------+




.. _BATT9_CURR_MULT:

BATT9\_CURR\_MULT: Scales reported power monitor current
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications


+----------+
| Range    |
+==========+
| .1 to 10 |
+----------+




.. _BATT9_FL_VLT_MIN:

BATT9\_FL\_VLT\_MIN: Empty fuel level voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+-------+
| Range      | Units |
+============+=======+
| 0.01 to 10 | volt  |
+------------+-------+




.. _BATT9_FL_V_MULT:

BATT9\_FL\_V\_MULT: Fuel level voltage multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+
| Range      |
+============+
| 0.01 to 10 |
+------------+




.. _BATT9_FL_FLTR:

BATT9\_FL\_FLTR: Fuel level filter frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\.


+---------+-------+
| Range   | Units |
+=========+=======+
| -1 to 1 | hertz |
+---------+-------+




.. _BATT9_FL_PIN:

BATT9\_FL\_PIN: Fuel level analog pin number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Analog input pin that fuel level sensor is connected to\. Airspeed ports can be used for Analog input\. When using analog pin 103\, the maximum value of the input in 3\.3V\.


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | Not Used                  |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _BATT9_MAX_VOLT:

BATT9\_MAX\_VOLT: Maximum Battery Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum voltage of battery\. Provides scaling of current versus voltage


+----------+
| Range    |
+==========+
| 7 to 100 |
+----------+





.. _parameters_BATT_:

BATT\_ Parameters
-----------------


.. _BATT_MONITOR:

BATT\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Controls enabling monitoring of the battery\'s voltage and current


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| 0     | Disabled                             |
+-------+--------------------------------------+
| 3     | Analog Voltage Only                  |
+-------+--------------------------------------+
| 4     | Analog Voltage and Current           |
+-------+--------------------------------------+
| 5     | Solo                                 |
+-------+--------------------------------------+
| 6     | Bebop                                |
+-------+--------------------------------------+
| 7     | SMBus-Generic                        |
+-------+--------------------------------------+
| 8     | DroneCAN-BatteryInfo                 |
+-------+--------------------------------------+
| 9     | ESC                                  |
+-------+--------------------------------------+
| 10    | Sum Of Selected Monitors             |
+-------+--------------------------------------+
| 11    | FuelFlow                             |
+-------+--------------------------------------+
| 12    | FuelLevelPWM                         |
+-------+--------------------------------------+
| 13    | SMBUS-SUI3                           |
+-------+--------------------------------------+
| 14    | SMBUS-SUI6                           |
+-------+--------------------------------------+
| 15    | NeoDesign                            |
+-------+--------------------------------------+
| 16    | SMBus-Maxell                         |
+-------+--------------------------------------+
| 17    | Generator-Elec                       |
+-------+--------------------------------------+
| 18    | Generator-Fuel                       |
+-------+--------------------------------------+
| 19    | Rotoye                               |
+-------+--------------------------------------+
| 20    | MPPT                                 |
+-------+--------------------------------------+
| 21    | INA2XX                               |
+-------+--------------------------------------+
| 22    | LTC2946                              |
+-------+--------------------------------------+
| 23    | Torqeedo                             |
+-------+--------------------------------------+
| 24    | FuelLevelAnalog                      |
+-------+--------------------------------------+
| 25    | Synthetic Current and Analog Voltage |
+-------+--------------------------------------+




.. _BATT_CAPACITY:

BATT\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Capacity of the battery in mAh when full


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT_SERIAL_NUM:

BATT\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\.


.. _BATT_LOW_TIMER:

BATT\_LOW\_TIMER: Low voltage timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 120 | seconds |
+-----------+----------+---------+




.. _BATT_FS_VOLTSRC:

BATT\_FS\_VOLTSRC: Failsafe voltage source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage type used for detection of low voltage event


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Raw Voltage             |
+-------+-------------------------+
| 1     | Sag Compensated Voltage |
+-------+-------------------------+




.. _BATT_LOW_VOLT:

BATT\_LOW\_VOLT: Low battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT_LOW_MAH:

BATT\_LOW\_MAH: Low battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT_CRT_VOLT:

BATT\_CRT\_VOLT: Critical battery voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT_CRT_MAH:

BATT\_CRT\_MAH: Battery critical capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_\_FS\_CRT\_ACT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT_FS_LOW_ACT:

BATT\_FS\_LOW\_ACT: Low battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a low battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT_FS_CRT_ACT:

BATT\_FS\_CRT\_ACT: Critical battery failsafe action
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action the vehicle should perform if it hits a critical battery failsafe


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | None    |
+-------+---------+
| 1     | Land    |
+-------+---------+




.. _BATT_ARM_VOLT:

BATT\_ARM\_VOLT: Required arming voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\.


+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1       | volt  |
+-----------+-------+




.. _BATT_ARM_MAH:

BATT\_ARM\_MAH: Required arming remaining capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT\_\_ARM\_VOLT parameter\.


+-----------+------------------+
| Increment | Units            |
+===========+==================+
| 50        | milliampere hour |
+-----------+------------------+




.. _BATT_OPTIONS:

BATT\_OPTIONS: Battery monitor options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the battery monitor


+-----+--------------------------------------------+
| Bit | Meaning                                    |
+=====+============================================+
| 0   | Ignore DroneCAN SoC                        |
+-----+--------------------------------------------+
| 1   | MPPT reports input voltage and current     |
+-----+--------------------------------------------+
| 2   | MPPT Powered off when disarmed             |
+-----+--------------------------------------------+
| 3   | MPPT Powered on when armed                 |
+-----+--------------------------------------------+
| 4   | MPPT Powered off at boot                   |
+-----+--------------------------------------------+
| 5   | MPPT Powered on at boot                    |
+-----+--------------------------------------------+
| 6   | Send resistance compensated voltage to GCS |
+-----+--------------------------------------------+




.. _BATT_VOLT_PIN:

BATT\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for voltage monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 2     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 5     | Navigator                            |
+-------+--------------------------------------+
| 13    | Pixhawk2_PM2/CubeOrange_PM2          |
+-------+--------------------------------------+
| 14    | CubeOrange                           |
+-------+--------------------------------------+
| 16    | Durandal                             |
+-------+--------------------------------------+
| 100   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT_CURR_PIN:

BATT\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Sets the analog input pin that should be used for current monitoring\.


+-------+--------------------------------------+
| Value | Meaning                              |
+=======+======================================+
| -1    | Disabled                             |
+-------+--------------------------------------+
| 3     | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
+-------+--------------------------------------+
| 4     | CubeOrange_PM2/Navigator             |
+-------+--------------------------------------+
| 14    | Pixhawk2_PM2                         |
+-------+--------------------------------------+
| 15    | CubeOrange                           |
+-------+--------------------------------------+
| 17    | Durandal                             |
+-------+--------------------------------------+
| 101   | PX4-v1                               |
+-------+--------------------------------------+




.. _BATT_VOLT_MULT:

BATT\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\.


.. _BATT_AMP_PERVLT:

BATT\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\.


+-----------------+
| Units           |
+=================+
| ampere per volt |
+-----------------+




.. _BATT_AMP_OFFSET:

BATT\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT_VLT_OFFSET:

BATT\_VLT\_OFFSET: Voltage offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\.


+-------+
| Units |
+=======+
| volt  |
+-------+




.. _BATT_I2C_BUS:

BATT\_I2C\_BUS: Battery monitor I2C bus number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C bus number


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _BATT_I2C_ADDR:

BATT\_I2C\_ADDR: Battery monitor I2C address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Battery monitor I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _BATT_SUM_MASK:

BATT\_SUM\_MASK: Battery Sum mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | monitor 1 |
+-----+-----------+
| 1   | monitor 2 |
+-----+-----------+
| 2   | monitor 3 |
+-----+-----------+
| 3   | monitor 4 |
+-----+-----------+
| 4   | monitor 5 |
+-----+-----------+
| 5   | monitor 6 |
+-----+-----------+
| 6   | monitor 7 |
+-----+-----------+
| 7   | monitor 8 |
+-----+-----------+
| 8   | monitor 9 |
+-----+-----------+




.. _BATT_CURR_MULT:

BATT\_CURR\_MULT: Scales reported power monitor current
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications


+----------+
| Range    |
+==========+
| .1 to 10 |
+----------+




.. _BATT_FL_VLT_MIN:

BATT\_FL\_VLT\_MIN: Empty fuel level voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+-------+
| Range      | Units |
+============+=======+
| 0.01 to 10 | volt  |
+------------+-------+




.. _BATT_FL_V_MULT:

BATT\_FL\_V\_MULT: Fuel level voltage multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\.


+------------+
| Range      |
+============+
| 0.01 to 10 |
+------------+




.. _BATT_FL_FLTR:

BATT\_FL\_FLTR: Fuel level filter frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\.


+---------+-------+
| Range   | Units |
+=========+=======+
| -1 to 1 | hertz |
+---------+-------+




.. _BATT_FL_PIN:

BATT\_FL\_PIN: Fuel level analog pin number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Analog input pin that fuel level sensor is connected to\. Airspeed ports can be used for Analog input\. When using analog pin 103\, the maximum value of the input in 3\.3V\.


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | Not Used                  |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _BATT_MAX_VOLT:

BATT\_MAX\_VOLT: Maximum Battery Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum voltage of battery\. Provides scaling of current versus voltage


+----------+
| Range    |
+==========+
| 7 to 100 |
+----------+





.. _parameters_BRD_:

BRD\_ Parameters
----------------


.. _BRD_SER1_RTSCTS:

BRD\_SER1\_RTSCTS: Serial 1 flow control
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

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


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+
| 2     | Auto     |
+-------+----------+




.. _BRD_SER2_RTSCTS:

BRD\_SER2\_RTSCTS: Serial 2 flow control
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

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


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+
| 2     | Auto     |
+-------+----------+




.. _BRD_SER3_RTSCTS:

BRD\_SER3\_RTSCTS: Serial 3 flow control
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

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


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+
| 2     | Auto     |
+-------+----------+




.. _BRD_SER4_RTSCTS:

BRD\_SER4\_RTSCTS: Serial 4 flow control
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enable flow control on serial 4\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+
| 2     | Auto     |
+-------+----------+




.. _BRD_SER5_RTSCTS:

BRD\_SER5\_RTSCTS: Serial 5 flow control
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enable flow control on serial 5\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+
| 2     | Auto     |
+-------+----------+




.. _BRD_SAFETY_DEFLT:

BRD\_SAFETY\_DEFLT: Sets default state of the safety switch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

This controls the default state of the safety switch at startup\. When set to 1 the safety switch will start in the safe state \(flashing\) at boot\. When set to zero the safety switch will start in the unsafe state \(solid\) at startup\. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch\. The safety state can also be controlled in software using a MAVLink message\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _BRD_SBUS_OUT:

BRD\_SBUS\_OUT:  SBUS output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This sets the SBUS output frame rate in Hz


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | 50Hz     |
+-------+----------+
| 2     | 75Hz     |
+-------+----------+
| 3     | 100Hz    |
+-------+----------+
| 4     | 150Hz    |
+-------+----------+
| 5     | 200Hz    |
+-------+----------+
| 6     | 250Hz    |
+-------+----------+
| 7     | 300Hz    |
+-------+----------+




.. _BRD_SERIAL_NUM:

BRD\_SERIAL\_NUM: User\-defined serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot


+---------------------+
| Range               |
+=====================+
| -8388608 to 8388607 |
+---------------------+




.. _BRD_SAFETY_MASK:

BRD\_SAFETY\_MASK: Outputs which ignore the safety switch state
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

A bitmask which controls what outputs can move while the safety switch has not been pressed


+-----+----------+
| Bit | Meaning  |
+=====+==========+
| 0   | Output1  |
+-----+----------+
| 1   | Output2  |
+-----+----------+
| 2   | Output3  |
+-----+----------+
| 3   | Output4  |
+-----+----------+
| 4   | Output5  |
+-----+----------+
| 5   | Output6  |
+-----+----------+
| 6   | Output7  |
+-----+----------+
| 7   | Output8  |
+-----+----------+
| 8   | Output9  |
+-----+----------+
| 9   | Output10 |
+-----+----------+
| 10  | Output11 |
+-----+----------+
| 11  | Output12 |
+-----+----------+
| 12  | Output13 |
+-----+----------+
| 13  | Output14 |
+-----+----------+




.. _BRD_HEAT_TARG:

BRD\_HEAT\_TARG: Board heater temperature target
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Board heater target temperature for boards with controllable heating units\. DO NOT SET to \-1 on the Cube\. Set to \-1 to disable the heater\, please reboot after setting to \-1\.


+----------+-----------------+
| Range    | Units           |
+==========+=================+
| -1 to 80 | degrees Celsius |
+----------+-----------------+




.. _BRD_TYPE:

BRD\_TYPE: Board type
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\)


+-------+----------------+
| Value | Meaning        |
+=======+================+
| 0     | AUTO           |
+-------+----------------+
| 1     | PX4V1          |
+-------+----------------+
| 2     | Pixhawk        |
+-------+----------------+
| 3     | Cube/Pixhawk2  |
+-------+----------------+
| 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 |
+-------+----------------+




.. _BRD_IO_ENABLE:

BRD\_IO\_ENABLE: Enable IO co\-processor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup


+-------+------------------+
| Value | Meaning          |
+=======+==================+
| 0     | Disabled         |
+-------+------------------+
| 1     | Enabled          |
+-------+------------------+
| 2     | EnableNoFWUpdate |
+-------+------------------+




.. _BRD_SAFETYOPTION:

BRD\_SAFETYOPTION: Options for safety button behavior
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed


+-----+-------------------------------------------+
| Bit | Meaning                                   |
+=====+===========================================+
| 0   | ActiveForSafetyEnable                     |
+-----+-------------------------------------------+
| 1   | ActiveForSafetyDisable                    |
+-----+-------------------------------------------+
| 2   | ActiveWhenArmed                           |
+-----+-------------------------------------------+
| 3   | Force safety on when the aircraft disarms |
+-----+-------------------------------------------+




.. _BRD_VBUS_MIN:

BRD\_VBUS\_MIN: Autopilot board voltage requirement
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Minimum voltage on the autopilot power rail to allow the aircraft to arm\. 0 to disable the check\.


+-----------+------------+-------+
| Increment | Range      | Units |
+===========+============+=======+
| 0.1       | 4.0 to 5.5 | volt  |
+-----------+------------+-------+




.. _BRD_VSERVO_MIN:

BRD\_VSERVO\_MIN: Servo voltage requirement
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Minimum voltage on the servo rail to allow the aircraft to arm\. 0 to disable the check\.


+-----------+-------------+-------+
| Increment | Range       | Units |
+===========+=============+=======+
| 0.1       | 3.3 to 12.0 | volt  |
+-----------+-------------+-------+




.. _BRD_SD_SLOWDOWN:

BRD\_SD\_SLOWDOWN: microSD slowdown
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is a scaling factor to slow down microSD operation\. It can be used on flight board and microSD card combinations where full speed is not reliable\. For normal full speed operation a value of 0 should be used\.


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 0 to 32 |
+-----------+---------+




.. _BRD_PWM_VOLT_SEL:

BRD\_PWM\_VOLT\_SEL: Set PWM Out Voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the voltage max for PWM output pulses\. 0 for 3\.3V and 1 for 5V output\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | 3.3V    |
+-------+---------+
| 1     | 5V      |
+-------+---------+




.. _BRD_OPTIONS:

BRD\_OPTIONS: Board options
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Board specific option flags


+-----+------------------------------------------+
| Bit | Meaning                                  |
+=====+==========================================+
| 0   | Enable hardware watchdog                 |
+-----+------------------------------------------+
| 1   | Disable MAVftp                           |
+-----+------------------------------------------+
| 2   | Enable set of internal parameters        |
+-----+------------------------------------------+
| 3   | Enable Debug Pins                        |
+-----+------------------------------------------+
| 4   | Unlock flash on reboot                   |
+-----+------------------------------------------+
| 5   | Write protect firmware flash on reboot   |
+-----+------------------------------------------+
| 6   | Write protect bootloader flash on reboot |
+-----+------------------------------------------+




.. _BRD_BOOT_DELAY:

BRD\_BOOT\_DELAY: Boot delay
~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This adds a delay in milliseconds to boot to ensure peripherals initialise fully


+------------+--------------+
| Range      | Units        |
+============+==============+
| 0 to 10000 | milliseconds |
+------------+--------------+




.. _BRD_HEAT_P:

BRD\_HEAT\_P: Board Heater P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Board Heater P gain


+-----------+----------+
| Increment | Range    |
+===========+==========+
| 1         | 1 to 500 |
+-----------+----------+




.. _BRD_HEAT_I:

BRD\_HEAT\_I: Board Heater I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Board Heater integrator gain


+-----------+--------+
| Increment | Range  |
+===========+========+
| 0.1       | 0 to 1 |
+-----------+--------+




.. _BRD_HEAT_IMAX:

BRD\_HEAT\_IMAX: Board Heater IMAX
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Board Heater integrator maximum


+-----------+----------+
| Increment | Range    |
+===========+==========+
| 1         | 0 to 100 |
+-----------+----------+




.. _BRD_ALT_CONFIG:

BRD\_ALT\_CONFIG: Alternative HW config
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Select an alternative hardware configuration\. A value of zero selects the default configuration for this board\. Other values are board specific\. Please see the documentation for your board for details on any alternative configuration values that may be available\.


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 0 to 10 |
+-----------+---------+




.. _BRD_HEAT_LOWMGN:

BRD\_HEAT\_LOWMGN: Board heater temp lower margin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Arming check will fail if temp is lower than this margin below BRD\_HEAT\_TARG\. 0 disables the low temperature check


+---------+-----------------+
| Range   | Units           |
+=========+=================+
| 0 to 20 | degrees Celsius |
+---------+-----------------+





.. _parameters_BRD_RADIO:

BRD\_RADIO Parameters
---------------------


.. _BRD_RADIO_TYPE:

BRD\_RADIO\_TYPE: Set type of direct attached radio
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This enables support for direct attached radio receivers


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | None     |
+-------+----------+
| 1     | CYRF6936 |
+-------+----------+
| 2     | CC2500   |
+-------+----------+
| 3     | BK2425   |
+-------+----------+




.. _BRD_RADIO_PROT:

BRD\_RADIO\_PROT: protocol
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Select air protocol


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Auto    |
+-------+---------+
| 1     | DSM2    |
+-------+---------+
| 2     | DSMX    |
+-------+---------+




.. _BRD_RADIO_DEBUG:

BRD\_RADIO\_DEBUG: debug level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

radio debug level


+--------+
| Range  |
+========+
| 0 to 4 |
+--------+




.. _BRD_RADIO_DISCRC:

BRD\_RADIO\_DISCRC: disable receive CRC
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

disable receive CRC \(for debug\)


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | NotDisabled |
+-------+-------------+
| 1     | Disabled    |
+-------+-------------+




.. _BRD_RADIO_SIGCH:

BRD\_RADIO\_SIGCH: RSSI signal strength
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Channel to show receive RSSI signal strength\, or zero for disabled


+---------+
| Range   |
+=========+
| 0 to 16 |
+---------+




.. _BRD_RADIO_PPSCH:

BRD\_RADIO\_PPSCH: Packet rate channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Channel to show received packet\-per\-second rate\, or zero for disabled


+---------+
| Range   |
+=========+
| 0 to 16 |
+---------+




.. _BRD_RADIO_TELEM:

BRD\_RADIO\_TELEM: Enable telemetry
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

If this is non\-zero then telemetry packets will be sent over DSM


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _BRD_RADIO_TXPOW:

BRD\_RADIO\_TXPOW: Telemetry Transmit power
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX


+--------+
| Range  |
+========+
| 1 to 8 |
+--------+




.. _BRD_RADIO_FCCTST:

BRD\_RADIO\_FCCTST: Put radio into FCC test mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

If this is enabled then the radio will continuously transmit as required for FCC testing\. The transmit channel is set by the value of the parameter\. The radio will not work for RC input while this is enabled


+-------+--------------+
| Value | Meaning      |
+=======+==============+
| 0     | Disabled     |
+-------+--------------+
| 1     | MinChannel   |
+-------+--------------+
| 2     | MidChannel   |
+-------+--------------+
| 3     | MaxChannel   |
+-------+--------------+
| 4     | MinChannelCW |
+-------+--------------+
| 5     | MidChannelCW |
+-------+--------------+
| 6     | MaxChannelCW |
+-------+--------------+




.. _BRD_RADIO_STKMD:

BRD\_RADIO\_STKMD: Stick input mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This selects between different stick input modes\. The default is mode2\, which has throttle on the left stick and pitch on the right stick\. You can instead set mode1\, which has throttle on the right stick and pitch on the left stick\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | Mode1   |
+-------+---------+
| 2     | Mode2   |
+-------+---------+




.. _BRD_RADIO_TESTCH:

BRD\_RADIO\_TESTCH: Set radio to factory test channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the radio to a fixed test channel for factory testing\. Using a fixed channel avoids the need for binding in factory testing\.


+-------+-----------+
| Value | Meaning   |
+=======+===========+
| 0     | Disabled  |
+-------+-----------+
| 1     | TestChan1 |
+-------+-----------+
| 2     | TestChan2 |
+-------+-----------+
| 3     | TestChan3 |
+-------+-----------+
| 4     | TestChan4 |
+-------+-----------+
| 5     | TestChan5 |
+-------+-----------+
| 6     | TestChan6 |
+-------+-----------+
| 7     | TestChan7 |
+-------+-----------+
| 8     | TestChan8 |
+-------+-----------+




.. _BRD_RADIO_TSIGCH:

BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Channel to show telemetry RSSI value as received by TX


+---------+
| Range   |
+=========+
| 0 to 16 |
+---------+




.. _BRD_RADIO_TPPSCH:

BRD\_RADIO\_TPPSCH: Telemetry PPS channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Channel to show telemetry packets\-per\-second value\, as received at TX


+---------+
| Range   |
+=========+
| 0 to 16 |
+---------+




.. _BRD_RADIO_TXMAX:

BRD\_RADIO\_TXMAX: Transmitter transmit power
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Set transmitter maximum transmit power \(from 1 to 8\)


+--------+
| Range  |
+========+
| 1 to 8 |
+--------+




.. _BRD_RADIO_BZOFS:

BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Set transmitter buzzer note adjustment \(adjust frequency up\)


+---------+
| Range   |
+=========+
| 0 to 40 |
+---------+




.. _BRD_RADIO_ABTIME:

BRD\_RADIO\_ABTIME: Auto\-bind time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\.


+----------+
| Range    |
+==========+
| 0 to 120 |
+----------+




.. _BRD_RADIO_ABLVL:

BRD\_RADIO\_ABLVL: Auto\-bind level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially


+---------+
| Range   |
+=========+
| 0 to 31 |
+---------+





.. _parameters_BRD_RTC:

BRD\_RTC Parameters
-------------------


.. _BRD_RTC_TYPES:

BRD\_RTC\_TYPES: Allowed sources of RTC time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Specifies which sources of UTC time will be accepted


+-----+---------------------+
| Bit | Meaning             |
+=====+=====================+
| 0   | GPS                 |
+-----+---------------------+
| 1   | MAVLINK_SYSTEM_TIME |
+-----+---------------------+
| 2   | HW                  |
+-----+---------------------+




.. _BRD_RTC_TZ_MIN:

BRD\_RTC\_TZ\_MIN: Timezone offset from UTC
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Adds offset in \+\- minutes from UTC to calculate local time


+--------------+
| Range        |
+==============+
| -720 to +840 |
+--------------+





.. _parameters_CAM_RC_:

CAM\_RC\_ Parameters
--------------------


.. _CAM_RC_TYPE:

CAM\_RC\_TYPE: RunCam device type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


RunCam deviee type used to determine OSD menu structure and shutter options\.


+-------+-------------------------------------+
| Value | Meaning                             |
+=======+=====================================+
| 0     | Disabled                            |
+-------+-------------------------------------+
| 1     | RunCam Split Micro/RunCam with UART |
+-------+-------------------------------------+
| 2     | RunCam Split                        |
+-------+-------------------------------------+
| 3     | RunCam Split4 4k                    |
+-------+-------------------------------------+
| 4     | RunCam Hybrid/RunCam Thumb Pro      |
+-------+-------------------------------------+




.. _CAM_RC_FEATURES:

CAM\_RC\_FEATURES: RunCam features available
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\.


+-----+-----------------+
| Bit | Meaning         |
+=====+=================+
| 0   | Power Button    |
+-----+-----------------+
| 1   | WiFi Button     |
+-----+-----------------+
| 2   | Change Mode     |
+-----+-----------------+
| 3   | 5-Key OSD       |
+-----+-----------------+
| 4   | Settings Access |
+-----+-----------------+
| 5   | DisplayPort     |
+-----+-----------------+
| 6   | Start Recording |
+-----+-----------------+
| 7   | Stop Recording  |
+-----+-----------------+




.. _CAM_RC_BT_DELAY:

CAM\_RC\_BT\_DELAY: RunCam boot delay before allowing updates
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\.


.. _CAM_RC_BTN_DELAY:

CAM\_RC\_BTN\_DELAY: RunCam button delay before allowing further button presses
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\.


.. _CAM_RC_MDE_DELAY:

CAM\_RC\_MDE\_DELAY: RunCam mode delay before allowing further button presses
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\.


.. _CAM_RC_CONTROL:

CAM\_RC\_CONTROL: RunCam control option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Specifies the allowed actions required to enter the OSD menu


+-----+-----------------------+
| Bit | Meaning               |
+=====+=======================+
| 0   | Stick yaw right       |
+-----+-----------------------+
| 1   | Stick roll right      |
+-----+-----------------------+
| 2   | 3-position switch     |
+-----+-----------------------+
| 3   | 2-position switch     |
+-----+-----------------------+
| 4   | Autorecording enabled |
+-----+-----------------------+





.. _parameters_CAN_:

CAN\_ Parameters
----------------


.. _CAN_LOGLEVEL:

CAN\_LOGLEVEL: Loglevel
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Loglevel for recording initialisation and debug information from CAN Interface


+-------+-----------------------+
| Value | Meaning               |
+=======+=======================+
| 0     | Log None              |
+-------+-----------------------+
| 1     | Log Error             |
+-------+-----------------------+
| 2     | Log Warning and below |
+-------+-----------------------+
| 3     | Log Info and below    |
+-------+-----------------------+
| 4     | Log Everything        |
+-------+-----------------------+




+--------+
| Range  |
+========+
| 0 to 4 |
+--------+





.. _parameters_CAN_D1_:

CAN\_D1\_ Parameters
--------------------


.. _CAN_D1_PROTOCOL:

CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enabling this option starts selected protocol that will use this virtual driver


+-------+------------+
| Value | Meaning    |
+=======+============+
| 0     | Disabled   |
+-------+------------+
| 1     | DroneCAN   |
+-------+------------+
| 4     | PiccoloCAN |
+-------+------------+
| 5     | CANTester  |
+-------+------------+
| 6     | EFI_NWPMU  |
+-------+------------+
| 7     | USD1       |
+-------+------------+
| 8     | KDECAN     |
+-------+------------+
| 10    | Scripting  |
+-------+------------+
| 11    | Benewake   |
+-------+------------+
| 12    | Scripting2 |
+-------+------------+





.. _parameters_CAN_D1_KDE_:

CAN\_D1\_KDE\_ Parameters
-------------------------


.. _CAN_D1_KDE_NPOLE:

CAN\_D1\_KDE\_NPOLE: Number of motor poles
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sets the number of motor poles to calculate the correct RPM value



.. _parameters_CAN_D1_PC_:

CAN\_D1\_PC\_ Parameters
------------------------


.. _CAN_D1_PC_ESC_BM:

CAN\_D1\_PC\_ESC\_BM: ESC channels
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | ESC 1   |
+-----+---------+
| 1   | ESC 2   |
+-----+---------+
| 2   | ESC 3   |
+-----+---------+
| 3   | ESC 4   |
+-----+---------+
| 4   | ESC 5   |
+-----+---------+
| 5   | ESC 6   |
+-----+---------+
| 6   | ESC 7   |
+-----+---------+
| 7   | ESC 8   |
+-----+---------+
| 8   | ESC 9   |
+-----+---------+
| 9   | ESC 10  |
+-----+---------+
| 10  | ESC 11  |
+-----+---------+
| 11  | ESC 12  |
+-----+---------+
| 12  | ESC 13  |
+-----+---------+
| 13  | ESC 14  |
+-----+---------+
| 14  | ESC 15  |
+-----+---------+
| 15  | ESC 16  |
+-----+---------+
| 16  | ESC 17  |
+-----+---------+
| 17  | ESC 18  |
+-----+---------+
| 18  | ESC 19  |
+-----+---------+
| 19  | ESC 20  |
+-----+---------+
| 20  | ESC 21  |
+-----+---------+
| 21  | ESC 22  |
+-----+---------+
| 22  | ESC 23  |
+-----+---------+
| 23  | ESC 24  |
+-----+---------+
| 24  | ESC 25  |
+-----+---------+
| 25  | ESC 26  |
+-----+---------+
| 26  | ESC 27  |
+-----+---------+
| 27  | ESC 28  |
+-----+---------+
| 28  | ESC 29  |
+-----+---------+
| 29  | ESC 30  |
+-----+---------+
| 30  | ESC 31  |
+-----+---------+
| 31  | ESC 32  |
+-----+---------+




.. _CAN_D1_PC_ESC_RT:

CAN\_D1\_PC\_ESC\_RT: ESC output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Output rate of ESC command messages


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 500 | hertz |
+----------+-------+




.. _CAN_D1_PC_SRV_BM:

CAN\_D1\_PC\_SRV\_BM: Servo channels
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask defining which servo channels are to be transmitted over Piccolo CAN


+-----+----------+
| Bit | Meaning  |
+=====+==========+
| 0   | Servo 1  |
+-----+----------+
| 1   | Servo 2  |
+-----+----------+
| 2   | Servo 3  |
+-----+----------+
| 3   | Servo 4  |
+-----+----------+
| 4   | Servo 5  |
+-----+----------+
| 5   | Servo 6  |
+-----+----------+
| 6   | Servo 7  |
+-----+----------+
| 7   | Servo 8  |
+-----+----------+
| 8   | Servo 9  |
+-----+----------+
| 9   | Servo 10 |
+-----+----------+
| 10  | Servo 11 |
+-----+----------+
| 11  | Servo 12 |
+-----+----------+
| 12  | Servo 13 |
+-----+----------+
| 13  | Servo 14 |
+-----+----------+
| 14  | Servo 15 |
+-----+----------+
| 15  | Servo 16 |
+-----+----------+




.. _CAN_D1_PC_SRV_RT:

CAN\_D1\_PC\_SRV\_RT: Servo command output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Output rate of servo command messages


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 500 | hertz |
+----------+-------+




.. _CAN_D1_PC_ECU_ID:

CAN\_D1\_PC\_ECU\_ID: ECU Node ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\.


+----------+
| Range    |
+==========+
| 0 to 255 |
+----------+




.. _CAN_D1_PC_ECU_RT:

CAN\_D1\_PC\_ECU\_RT: ECU command output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Output rate of ECU command messages


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 500 | hertz |
+----------+-------+





.. _parameters_CAN_D1_TST_:

CAN\_D1\_TST\_ Parameters
-------------------------


.. _CAN_D1_TST_ID:

CAN\_D1\_TST\_ID: CAN Test Index
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Selects the Index of Test that needs to be run recursively\, this value gets reset to 0 at boot\.


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | TEST_NONE            |
+-------+----------------------+
| 1     | TEST_LOOPBACK        |
+-------+----------------------+
| 2     | TEST_BUSOFF_RECOVERY |
+-------+----------------------+
| 3     | TEST_UAVCAN_DNA      |
+-------+----------------------+
| 5     | TEST_KDE_CAN         |
+-------+----------------------+
| 6     | TEST_UAVCAN_ESC      |
+-------+----------------------+
| 7     | TEST_UAVCAN_FD_ESC   |
+-------+----------------------+




+--------+
| Range  |
+========+
| 0 to 4 |
+--------+




.. _CAN_D1_TST_LPR8:

CAN\_D1\_TST\_LPR8: CANTester LoopRate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Selects the Looprate of Test methods


+--------------+
| Units        |
+==============+
| microseconds |
+--------------+





.. _parameters_CAN_D1_UC_:

CAN\_D1\_UC\_ Parameters
------------------------


.. _CAN_D1_UC_NODE:

CAN\_D1\_UC\_NODE: UAVCAN node that is used for this network
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

UAVCAN node should be set implicitly


+----------+
| Range    |
+==========+
| 1 to 250 |
+----------+




.. _CAN_D1_UC_SRV_BM:

CAN\_D1\_UC\_SRV\_BM: Output channels to be transmitted as servo over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Bitmask with one set for channel to be transmitted as a servo command over UAVCAN


+-----+----------+
| Bit | Meaning  |
+=====+==========+
| 0   | Servo 1  |
+-----+----------+
| 1   | Servo 2  |
+-----+----------+
| 2   | Servo 3  |
+-----+----------+
| 3   | Servo 4  |
+-----+----------+
| 4   | Servo 5  |
+-----+----------+
| 5   | Servo 6  |
+-----+----------+
| 6   | Servo 7  |
+-----+----------+
| 7   | Servo 8  |
+-----+----------+
| 8   | Servo 9  |
+-----+----------+
| 9   | Servo 10 |
+-----+----------+
| 10  | Servo 11 |
+-----+----------+
| 11  | Servo 12 |
+-----+----------+
| 12  | Servo 13 |
+-----+----------+
| 13  | Servo 14 |
+-----+----------+
| 14  | Servo 15 |
+-----+----------+
| 15  | Servo 16 |
+-----+----------+
| 16  | Servo 17 |
+-----+----------+
| 17  | Servo 18 |
+-----+----------+
| 18  | Servo 19 |
+-----+----------+
| 19  | Servo 20 |
+-----+----------+
| 20  | Servo 21 |
+-----+----------+
| 21  | Servo 22 |
+-----+----------+
| 22  | Servo 23 |
+-----+----------+
| 23  | Servo 24 |
+-----+----------+
| 24  | Servo 25 |
+-----+----------+
| 25  | Servo 26 |
+-----+----------+
| 26  | Servo 27 |
+-----+----------+
| 27  | Servo 28 |
+-----+----------+
| 28  | Servo 29 |
+-----+----------+
| 29  | Servo 30 |
+-----+----------+
| 30  | Servo 31 |
+-----+----------+
| 31  | Servo 32 |
+-----+----------+




.. _CAN_D1_UC_ESC_BM:

CAN\_D1\_UC\_ESC\_BM: Output channels to be transmitted as ESC over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | ESC 1   |
+-----+---------+
| 1   | ESC 2   |
+-----+---------+
| 2   | ESC 3   |
+-----+---------+
| 3   | ESC 4   |
+-----+---------+
| 4   | ESC 5   |
+-----+---------+
| 5   | ESC 6   |
+-----+---------+
| 6   | ESC 7   |
+-----+---------+
| 7   | ESC 8   |
+-----+---------+
| 8   | ESC 9   |
+-----+---------+
| 9   | ESC 10  |
+-----+---------+
| 10  | ESC 11  |
+-----+---------+
| 11  | ESC 12  |
+-----+---------+
| 12  | ESC 13  |
+-----+---------+
| 13  | ESC 14  |
+-----+---------+
| 14  | ESC 15  |
+-----+---------+
| 15  | ESC 16  |
+-----+---------+
| 16  | ESC 17  |
+-----+---------+
| 17  | ESC 18  |
+-----+---------+
| 18  | ESC 19  |
+-----+---------+
| 19  | ESC 20  |
+-----+---------+
| 20  | ESC 21  |
+-----+---------+
| 21  | ESC 22  |
+-----+---------+
| 22  | ESC 23  |
+-----+---------+
| 23  | ESC 24  |
+-----+---------+
| 24  | ESC 25  |
+-----+---------+
| 25  | ESC 26  |
+-----+---------+
| 26  | ESC 27  |
+-----+---------+
| 27  | ESC 28  |
+-----+---------+
| 28  | ESC 29  |
+-----+---------+
| 29  | ESC 30  |
+-----+---------+
| 30  | ESC 31  |
+-----+---------+
| 31  | ESC 32  |
+-----+---------+




.. _CAN_D1_UC_SRV_RT:

CAN\_D1\_UC\_SRV\_RT: Servo output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum transmit rate for servo outputs


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 200 | hertz |
+----------+-------+




.. _CAN_D1_UC_OPTION:

CAN\_D1\_UC\_OPTION: UAVCAN options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Option flags


+-----+------------------------+
| Bit | Meaning                |
+=====+========================+
| 0   | ClearDNADatabase       |
+-----+------------------------+
| 1   | IgnoreDNANodeConflicts |
+-----+------------------------+
| 2   | EnableCanfd            |
+-----+------------------------+
| 3   | IgnoreDNANodeUnhealthy |
+-----+------------------------+
| 4   | SendServoAsPWM         |
+-----+------------------------+




.. _CAN_D1_UC_NTF_RT:

CAN\_D1\_UC\_NTF\_RT: Notify State rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum transmit rate for Notify State Message


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 200 | hertz |
+----------+-------+




.. _CAN_D1_UC_ESC_OF:

CAN\_D1\_UC\_ESC\_OF: ESC Output channels offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficint usage of CAN bandwidth


+---------+
| Range   |
+=========+
| 0 to 18 |
+---------+




.. _CAN_D1_UC_POOL:

CAN\_D1\_UC\_POOL: CAN pool size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads


+---------------+
| Range         |
+===============+
| 1024 to 16384 |
+---------------+





.. _parameters_CAN_D2_:

CAN\_D2\_ Parameters
--------------------


.. _CAN_D2_PROTOCOL:

CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enabling this option starts selected protocol that will use this virtual driver


+-------+------------+
| Value | Meaning    |
+=======+============+
| 0     | Disabled   |
+-------+------------+
| 1     | DroneCAN   |
+-------+------------+
| 4     | PiccoloCAN |
+-------+------------+
| 5     | CANTester  |
+-------+------------+
| 6     | EFI_NWPMU  |
+-------+------------+
| 7     | USD1       |
+-------+------------+
| 8     | KDECAN     |
+-------+------------+
| 10    | Scripting  |
+-------+------------+
| 11    | Benewake   |
+-------+------------+
| 12    | Scripting2 |
+-------+------------+





.. _parameters_CAN_D2_KDE_:

CAN\_D2\_KDE\_ Parameters
-------------------------


.. _CAN_D2_KDE_NPOLE:

CAN\_D2\_KDE\_NPOLE: Number of motor poles
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sets the number of motor poles to calculate the correct RPM value



.. _parameters_CAN_D2_PC_:

CAN\_D2\_PC\_ Parameters
------------------------


.. _CAN_D2_PC_ESC_BM:

CAN\_D2\_PC\_ESC\_BM: ESC channels
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | ESC 1   |
+-----+---------+
| 1   | ESC 2   |
+-----+---------+
| 2   | ESC 3   |
+-----+---------+
| 3   | ESC 4   |
+-----+---------+
| 4   | ESC 5   |
+-----+---------+
| 5   | ESC 6   |
+-----+---------+
| 6   | ESC 7   |
+-----+---------+
| 7   | ESC 8   |
+-----+---------+
| 8   | ESC 9   |
+-----+---------+
| 9   | ESC 10  |
+-----+---------+
| 10  | ESC 11  |
+-----+---------+
| 11  | ESC 12  |
+-----+---------+
| 12  | ESC 13  |
+-----+---------+
| 13  | ESC 14  |
+-----+---------+
| 14  | ESC 15  |
+-----+---------+
| 15  | ESC 16  |
+-----+---------+
| 16  | ESC 17  |
+-----+---------+
| 17  | ESC 18  |
+-----+---------+
| 18  | ESC 19  |
+-----+---------+
| 19  | ESC 20  |
+-----+---------+
| 20  | ESC 21  |
+-----+---------+
| 21  | ESC 22  |
+-----+---------+
| 22  | ESC 23  |
+-----+---------+
| 23  | ESC 24  |
+-----+---------+
| 24  | ESC 25  |
+-----+---------+
| 25  | ESC 26  |
+-----+---------+
| 26  | ESC 27  |
+-----+---------+
| 27  | ESC 28  |
+-----+---------+
| 28  | ESC 29  |
+-----+---------+
| 29  | ESC 30  |
+-----+---------+
| 30  | ESC 31  |
+-----+---------+
| 31  | ESC 32  |
+-----+---------+




.. _CAN_D2_PC_ESC_RT:

CAN\_D2\_PC\_ESC\_RT: ESC output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Output rate of ESC command messages


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 500 | hertz |
+----------+-------+




.. _CAN_D2_PC_SRV_BM:

CAN\_D2\_PC\_SRV\_BM: Servo channels
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask defining which servo channels are to be transmitted over Piccolo CAN


+-----+----------+
| Bit | Meaning  |
+=====+==========+
| 0   | Servo 1  |
+-----+----------+
| 1   | Servo 2  |
+-----+----------+
| 2   | Servo 3  |
+-----+----------+
| 3   | Servo 4  |
+-----+----------+
| 4   | Servo 5  |
+-----+----------+
| 5   | Servo 6  |
+-----+----------+
| 6   | Servo 7  |
+-----+----------+
| 7   | Servo 8  |
+-----+----------+
| 8   | Servo 9  |
+-----+----------+
| 9   | Servo 10 |
+-----+----------+
| 10  | Servo 11 |
+-----+----------+
| 11  | Servo 12 |
+-----+----------+
| 12  | Servo 13 |
+-----+----------+
| 13  | Servo 14 |
+-----+----------+
| 14  | Servo 15 |
+-----+----------+
| 15  | Servo 16 |
+-----+----------+




.. _CAN_D2_PC_SRV_RT:

CAN\_D2\_PC\_SRV\_RT: Servo command output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Output rate of servo command messages


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 500 | hertz |
+----------+-------+




.. _CAN_D2_PC_ECU_ID:

CAN\_D2\_PC\_ECU\_ID: ECU Node ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\.


+----------+
| Range    |
+==========+
| 0 to 255 |
+----------+




.. _CAN_D2_PC_ECU_RT:

CAN\_D2\_PC\_ECU\_RT: ECU command output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Output rate of ECU command messages


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 500 | hertz |
+----------+-------+





.. _parameters_CAN_D2_TST_:

CAN\_D2\_TST\_ Parameters
-------------------------


.. _CAN_D2_TST_ID:

CAN\_D2\_TST\_ID: CAN Test Index
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Selects the Index of Test that needs to be run recursively\, this value gets reset to 0 at boot\.


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | TEST_NONE            |
+-------+----------------------+
| 1     | TEST_LOOPBACK        |
+-------+----------------------+
| 2     | TEST_BUSOFF_RECOVERY |
+-------+----------------------+
| 3     | TEST_UAVCAN_DNA      |
+-------+----------------------+
| 5     | TEST_KDE_CAN         |
+-------+----------------------+
| 6     | TEST_UAVCAN_ESC      |
+-------+----------------------+
| 7     | TEST_UAVCAN_FD_ESC   |
+-------+----------------------+




+--------+
| Range  |
+========+
| 0 to 4 |
+--------+




.. _CAN_D2_TST_LPR8:

CAN\_D2\_TST\_LPR8: CANTester LoopRate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Selects the Looprate of Test methods


+--------------+
| Units        |
+==============+
| microseconds |
+--------------+





.. _parameters_CAN_D2_UC_:

CAN\_D2\_UC\_ Parameters
------------------------


.. _CAN_D2_UC_NODE:

CAN\_D2\_UC\_NODE: UAVCAN node that is used for this network
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

UAVCAN node should be set implicitly


+----------+
| Range    |
+==========+
| 1 to 250 |
+----------+




.. _CAN_D2_UC_SRV_BM:

CAN\_D2\_UC\_SRV\_BM: Output channels to be transmitted as servo over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Bitmask with one set for channel to be transmitted as a servo command over UAVCAN


+-----+----------+
| Bit | Meaning  |
+=====+==========+
| 0   | Servo 1  |
+-----+----------+
| 1   | Servo 2  |
+-----+----------+
| 2   | Servo 3  |
+-----+----------+
| 3   | Servo 4  |
+-----+----------+
| 4   | Servo 5  |
+-----+----------+
| 5   | Servo 6  |
+-----+----------+
| 6   | Servo 7  |
+-----+----------+
| 7   | Servo 8  |
+-----+----------+
| 8   | Servo 9  |
+-----+----------+
| 9   | Servo 10 |
+-----+----------+
| 10  | Servo 11 |
+-----+----------+
| 11  | Servo 12 |
+-----+----------+
| 12  | Servo 13 |
+-----+----------+
| 13  | Servo 14 |
+-----+----------+
| 14  | Servo 15 |
+-----+----------+
| 15  | Servo 16 |
+-----+----------+
| 16  | Servo 17 |
+-----+----------+
| 17  | Servo 18 |
+-----+----------+
| 18  | Servo 19 |
+-----+----------+
| 19  | Servo 20 |
+-----+----------+
| 20  | Servo 21 |
+-----+----------+
| 21  | Servo 22 |
+-----+----------+
| 22  | Servo 23 |
+-----+----------+
| 23  | Servo 24 |
+-----+----------+
| 24  | Servo 25 |
+-----+----------+
| 25  | Servo 26 |
+-----+----------+
| 26  | Servo 27 |
+-----+----------+
| 27  | Servo 28 |
+-----+----------+
| 28  | Servo 29 |
+-----+----------+
| 29  | Servo 30 |
+-----+----------+
| 30  | Servo 31 |
+-----+----------+
| 31  | Servo 32 |
+-----+----------+




.. _CAN_D2_UC_ESC_BM:

CAN\_D2\_UC\_ESC\_BM: Output channels to be transmitted as ESC over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | ESC 1   |
+-----+---------+
| 1   | ESC 2   |
+-----+---------+
| 2   | ESC 3   |
+-----+---------+
| 3   | ESC 4   |
+-----+---------+
| 4   | ESC 5   |
+-----+---------+
| 5   | ESC 6   |
+-----+---------+
| 6   | ESC 7   |
+-----+---------+
| 7   | ESC 8   |
+-----+---------+
| 8   | ESC 9   |
+-----+---------+
| 9   | ESC 10  |
+-----+---------+
| 10  | ESC 11  |
+-----+---------+
| 11  | ESC 12  |
+-----+---------+
| 12  | ESC 13  |
+-----+---------+
| 13  | ESC 14  |
+-----+---------+
| 14  | ESC 15  |
+-----+---------+
| 15  | ESC 16  |
+-----+---------+
| 16  | ESC 17  |
+-----+---------+
| 17  | ESC 18  |
+-----+---------+
| 18  | ESC 19  |
+-----+---------+
| 19  | ESC 20  |
+-----+---------+
| 20  | ESC 21  |
+-----+---------+
| 21  | ESC 22  |
+-----+---------+
| 22  | ESC 23  |
+-----+---------+
| 23  | ESC 24  |
+-----+---------+
| 24  | ESC 25  |
+-----+---------+
| 25  | ESC 26  |
+-----+---------+
| 26  | ESC 27  |
+-----+---------+
| 27  | ESC 28  |
+-----+---------+
| 28  | ESC 29  |
+-----+---------+
| 29  | ESC 30  |
+-----+---------+
| 30  | ESC 31  |
+-----+---------+
| 31  | ESC 32  |
+-----+---------+




.. _CAN_D2_UC_SRV_RT:

CAN\_D2\_UC\_SRV\_RT: Servo output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum transmit rate for servo outputs


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 200 | hertz |
+----------+-------+




.. _CAN_D2_UC_OPTION:

CAN\_D2\_UC\_OPTION: UAVCAN options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Option flags


+-----+------------------------+
| Bit | Meaning                |
+=====+========================+
| 0   | ClearDNADatabase       |
+-----+------------------------+
| 1   | IgnoreDNANodeConflicts |
+-----+------------------------+
| 2   | EnableCanfd            |
+-----+------------------------+
| 3   | IgnoreDNANodeUnhealthy |
+-----+------------------------+
| 4   | SendServoAsPWM         |
+-----+------------------------+




.. _CAN_D2_UC_NTF_RT:

CAN\_D2\_UC\_NTF\_RT: Notify State rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum transmit rate for Notify State Message


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 200 | hertz |
+----------+-------+




.. _CAN_D2_UC_ESC_OF:

CAN\_D2\_UC\_ESC\_OF: ESC Output channels offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficint usage of CAN bandwidth


+---------+
| Range   |
+=========+
| 0 to 18 |
+---------+




.. _CAN_D2_UC_POOL:

CAN\_D2\_UC\_POOL: CAN pool size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads


+---------------+
| Range         |
+===============+
| 1024 to 16384 |
+---------------+





.. _parameters_CAN_D3_:

CAN\_D3\_ Parameters
--------------------


.. _CAN_D3_PROTOCOL:

CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enabling this option starts selected protocol that will use this virtual driver


+-------+------------+
| Value | Meaning    |
+=======+============+
| 0     | Disabled   |
+-------+------------+
| 1     | DroneCAN   |
+-------+------------+
| 4     | PiccoloCAN |
+-------+------------+
| 5     | CANTester  |
+-------+------------+
| 6     | EFI_NWPMU  |
+-------+------------+
| 7     | USD1       |
+-------+------------+
| 8     | KDECAN     |
+-------+------------+
| 10    | Scripting  |
+-------+------------+
| 11    | Benewake   |
+-------+------------+
| 12    | Scripting2 |
+-------+------------+





.. _parameters_CAN_D3_KDE_:

CAN\_D3\_KDE\_ Parameters
-------------------------


.. _CAN_D3_KDE_NPOLE:

CAN\_D3\_KDE\_NPOLE: Number of motor poles
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sets the number of motor poles to calculate the correct RPM value



.. _parameters_CAN_D3_PC_:

CAN\_D3\_PC\_ Parameters
------------------------


.. _CAN_D3_PC_ESC_BM:

CAN\_D3\_PC\_ESC\_BM: ESC channels
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | ESC 1   |
+-----+---------+
| 1   | ESC 2   |
+-----+---------+
| 2   | ESC 3   |
+-----+---------+
| 3   | ESC 4   |
+-----+---------+
| 4   | ESC 5   |
+-----+---------+
| 5   | ESC 6   |
+-----+---------+
| 6   | ESC 7   |
+-----+---------+
| 7   | ESC 8   |
+-----+---------+
| 8   | ESC 9   |
+-----+---------+
| 9   | ESC 10  |
+-----+---------+
| 10  | ESC 11  |
+-----+---------+
| 11  | ESC 12  |
+-----+---------+
| 12  | ESC 13  |
+-----+---------+
| 13  | ESC 14  |
+-----+---------+
| 14  | ESC 15  |
+-----+---------+
| 15  | ESC 16  |
+-----+---------+
| 16  | ESC 17  |
+-----+---------+
| 17  | ESC 18  |
+-----+---------+
| 18  | ESC 19  |
+-----+---------+
| 19  | ESC 20  |
+-----+---------+
| 20  | ESC 21  |
+-----+---------+
| 21  | ESC 22  |
+-----+---------+
| 22  | ESC 23  |
+-----+---------+
| 23  | ESC 24  |
+-----+---------+
| 24  | ESC 25  |
+-----+---------+
| 25  | ESC 26  |
+-----+---------+
| 26  | ESC 27  |
+-----+---------+
| 27  | ESC 28  |
+-----+---------+
| 28  | ESC 29  |
+-----+---------+
| 29  | ESC 30  |
+-----+---------+
| 30  | ESC 31  |
+-----+---------+
| 31  | ESC 32  |
+-----+---------+




.. _CAN_D3_PC_ESC_RT:

CAN\_D3\_PC\_ESC\_RT: ESC output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Output rate of ESC command messages


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 500 | hertz |
+----------+-------+




.. _CAN_D3_PC_SRV_BM:

CAN\_D3\_PC\_SRV\_BM: Servo channels
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask defining which servo channels are to be transmitted over Piccolo CAN


+-----+----------+
| Bit | Meaning  |
+=====+==========+
| 0   | Servo 1  |
+-----+----------+
| 1   | Servo 2  |
+-----+----------+
| 2   | Servo 3  |
+-----+----------+
| 3   | Servo 4  |
+-----+----------+
| 4   | Servo 5  |
+-----+----------+
| 5   | Servo 6  |
+-----+----------+
| 6   | Servo 7  |
+-----+----------+
| 7   | Servo 8  |
+-----+----------+
| 8   | Servo 9  |
+-----+----------+
| 9   | Servo 10 |
+-----+----------+
| 10  | Servo 11 |
+-----+----------+
| 11  | Servo 12 |
+-----+----------+
| 12  | Servo 13 |
+-----+----------+
| 13  | Servo 14 |
+-----+----------+
| 14  | Servo 15 |
+-----+----------+
| 15  | Servo 16 |
+-----+----------+




.. _CAN_D3_PC_SRV_RT:

CAN\_D3\_PC\_SRV\_RT: Servo command output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Output rate of servo command messages


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 500 | hertz |
+----------+-------+




.. _CAN_D3_PC_ECU_ID:

CAN\_D3\_PC\_ECU\_ID: ECU Node ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\.


+----------+
| Range    |
+==========+
| 0 to 255 |
+----------+




.. _CAN_D3_PC_ECU_RT:

CAN\_D3\_PC\_ECU\_RT: ECU command output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Output rate of ECU command messages


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 500 | hertz |
+----------+-------+





.. _parameters_CAN_D3_TST_:

CAN\_D3\_TST\_ Parameters
-------------------------


.. _CAN_D3_TST_ID:

CAN\_D3\_TST\_ID: CAN Test Index
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Selects the Index of Test that needs to be run recursively\, this value gets reset to 0 at boot\.


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | TEST_NONE            |
+-------+----------------------+
| 1     | TEST_LOOPBACK        |
+-------+----------------------+
| 2     | TEST_BUSOFF_RECOVERY |
+-------+----------------------+
| 3     | TEST_UAVCAN_DNA      |
+-------+----------------------+
| 5     | TEST_KDE_CAN         |
+-------+----------------------+
| 6     | TEST_UAVCAN_ESC      |
+-------+----------------------+
| 7     | TEST_UAVCAN_FD_ESC   |
+-------+----------------------+




+--------+
| Range  |
+========+
| 0 to 4 |
+--------+




.. _CAN_D3_TST_LPR8:

CAN\_D3\_TST\_LPR8: CANTester LoopRate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Selects the Looprate of Test methods


+--------------+
| Units        |
+==============+
| microseconds |
+--------------+





.. _parameters_CAN_D3_UC_:

CAN\_D3\_UC\_ Parameters
------------------------


.. _CAN_D3_UC_NODE:

CAN\_D3\_UC\_NODE: UAVCAN node that is used for this network
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

UAVCAN node should be set implicitly


+----------+
| Range    |
+==========+
| 1 to 250 |
+----------+




.. _CAN_D3_UC_SRV_BM:

CAN\_D3\_UC\_SRV\_BM: Output channels to be transmitted as servo over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Bitmask with one set for channel to be transmitted as a servo command over UAVCAN


+-----+----------+
| Bit | Meaning  |
+=====+==========+
| 0   | Servo 1  |
+-----+----------+
| 1   | Servo 2  |
+-----+----------+
| 2   | Servo 3  |
+-----+----------+
| 3   | Servo 4  |
+-----+----------+
| 4   | Servo 5  |
+-----+----------+
| 5   | Servo 6  |
+-----+----------+
| 6   | Servo 7  |
+-----+----------+
| 7   | Servo 8  |
+-----+----------+
| 8   | Servo 9  |
+-----+----------+
| 9   | Servo 10 |
+-----+----------+
| 10  | Servo 11 |
+-----+----------+
| 11  | Servo 12 |
+-----+----------+
| 12  | Servo 13 |
+-----+----------+
| 13  | Servo 14 |
+-----+----------+
| 14  | Servo 15 |
+-----+----------+
| 15  | Servo 16 |
+-----+----------+
| 16  | Servo 17 |
+-----+----------+
| 17  | Servo 18 |
+-----+----------+
| 18  | Servo 19 |
+-----+----------+
| 19  | Servo 20 |
+-----+----------+
| 20  | Servo 21 |
+-----+----------+
| 21  | Servo 22 |
+-----+----------+
| 22  | Servo 23 |
+-----+----------+
| 23  | Servo 24 |
+-----+----------+
| 24  | Servo 25 |
+-----+----------+
| 25  | Servo 26 |
+-----+----------+
| 26  | Servo 27 |
+-----+----------+
| 27  | Servo 28 |
+-----+----------+
| 28  | Servo 29 |
+-----+----------+
| 29  | Servo 30 |
+-----+----------+
| 30  | Servo 31 |
+-----+----------+
| 31  | Servo 32 |
+-----+----------+




.. _CAN_D3_UC_ESC_BM:

CAN\_D3\_UC\_ESC\_BM: Output channels to be transmitted as ESC over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | ESC 1   |
+-----+---------+
| 1   | ESC 2   |
+-----+---------+
| 2   | ESC 3   |
+-----+---------+
| 3   | ESC 4   |
+-----+---------+
| 4   | ESC 5   |
+-----+---------+
| 5   | ESC 6   |
+-----+---------+
| 6   | ESC 7   |
+-----+---------+
| 7   | ESC 8   |
+-----+---------+
| 8   | ESC 9   |
+-----+---------+
| 9   | ESC 10  |
+-----+---------+
| 10  | ESC 11  |
+-----+---------+
| 11  | ESC 12  |
+-----+---------+
| 12  | ESC 13  |
+-----+---------+
| 13  | ESC 14  |
+-----+---------+
| 14  | ESC 15  |
+-----+---------+
| 15  | ESC 16  |
+-----+---------+
| 16  | ESC 17  |
+-----+---------+
| 17  | ESC 18  |
+-----+---------+
| 18  | ESC 19  |
+-----+---------+
| 19  | ESC 20  |
+-----+---------+
| 20  | ESC 21  |
+-----+---------+
| 21  | ESC 22  |
+-----+---------+
| 22  | ESC 23  |
+-----+---------+
| 23  | ESC 24  |
+-----+---------+
| 24  | ESC 25  |
+-----+---------+
| 25  | ESC 26  |
+-----+---------+
| 26  | ESC 27  |
+-----+---------+
| 27  | ESC 28  |
+-----+---------+
| 28  | ESC 29  |
+-----+---------+
| 29  | ESC 30  |
+-----+---------+
| 30  | ESC 31  |
+-----+---------+
| 31  | ESC 32  |
+-----+---------+




.. _CAN_D3_UC_SRV_RT:

CAN\_D3\_UC\_SRV\_RT: Servo output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum transmit rate for servo outputs


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 200 | hertz |
+----------+-------+




.. _CAN_D3_UC_OPTION:

CAN\_D3\_UC\_OPTION: UAVCAN options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Option flags


+-----+------------------------+
| Bit | Meaning                |
+=====+========================+
| 0   | ClearDNADatabase       |
+-----+------------------------+
| 1   | IgnoreDNANodeConflicts |
+-----+------------------------+
| 2   | EnableCanfd            |
+-----+------------------------+
| 3   | IgnoreDNANodeUnhealthy |
+-----+------------------------+
| 4   | SendServoAsPWM         |
+-----+------------------------+




.. _CAN_D3_UC_NTF_RT:

CAN\_D3\_UC\_NTF\_RT: Notify State rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum transmit rate for Notify State Message


+----------+-------+
| Range    | Units |
+==========+=======+
| 1 to 200 | hertz |
+----------+-------+




.. _CAN_D3_UC_ESC_OF:

CAN\_D3\_UC\_ESC\_OF: ESC Output channels offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficint usage of CAN bandwidth


+---------+
| Range   |
+=========+
| 0 to 18 |
+---------+




.. _CAN_D3_UC_POOL:

CAN\_D3\_UC\_POOL: CAN pool size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads


+---------------+
| Range         |
+===============+
| 1024 to 16384 |
+---------------+





.. _parameters_CAN_P1_:

CAN\_P1\_ Parameters
--------------------


.. _CAN_P1_DRIVER:

CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enabling this option enables use of CAN buses\.


+-------+---------------+
| Value | Meaning       |
+=======+===============+
| 0     | Disabled      |
+-------+---------------+
| 1     | First driver  |
+-------+---------------+
| 2     | Second driver |
+-------+---------------+
| 3     | Third driver  |
+-------+---------------+




.. _CAN_P1_BITRATE:

CAN\_P1\_BITRATE: Bitrate of CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bit rate can be set up to from 10000 to 1000000


+------------------+
| Range            |
+==================+
| 10000 to 1000000 |
+------------------+




.. _CAN_P1_FDBITRATE:

CAN\_P1\_FDBITRATE: Bitrate of CANFD interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bit rate can be set up to from 1000000 to 8000000


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1M      |
+-------+---------+
| 2     | 2M      |
+-------+---------+
| 4     | 4M      |
+-------+---------+
| 5     | 5M      |
+-------+---------+
| 8     | 8M      |
+-------+---------+





.. _parameters_CAN_P2_:

CAN\_P2\_ Parameters
--------------------


.. _CAN_P2_DRIVER:

CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enabling this option enables use of CAN buses\.


+-------+---------------+
| Value | Meaning       |
+=======+===============+
| 0     | Disabled      |
+-------+---------------+
| 1     | First driver  |
+-------+---------------+
| 2     | Second driver |
+-------+---------------+
| 3     | Third driver  |
+-------+---------------+




.. _CAN_P2_BITRATE:

CAN\_P2\_BITRATE: Bitrate of CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bit rate can be set up to from 10000 to 1000000


+------------------+
| Range            |
+==================+
| 10000 to 1000000 |
+------------------+




.. _CAN_P2_FDBITRATE:

CAN\_P2\_FDBITRATE: Bitrate of CANFD interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bit rate can be set up to from 1000000 to 8000000


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1M      |
+-------+---------+
| 2     | 2M      |
+-------+---------+
| 4     | 4M      |
+-------+---------+
| 5     | 5M      |
+-------+---------+
| 8     | 8M      |
+-------+---------+





.. _parameters_CAN_P3_:

CAN\_P3\_ Parameters
--------------------


.. _CAN_P3_DRIVER:

CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enabling this option enables use of CAN buses\.


+-------+---------------+
| Value | Meaning       |
+=======+===============+
| 0     | Disabled      |
+-------+---------------+
| 1     | First driver  |
+-------+---------------+
| 2     | Second driver |
+-------+---------------+
| 3     | Third driver  |
+-------+---------------+




.. _CAN_P3_BITRATE:

CAN\_P3\_BITRATE: Bitrate of CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bit rate can be set up to from 10000 to 1000000


+------------------+
| Range            |
+==================+
| 10000 to 1000000 |
+------------------+




.. _CAN_P3_FDBITRATE:

CAN\_P3\_FDBITRATE: Bitrate of CANFD interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bit rate can be set up to from 1000000 to 8000000


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1M      |
+-------+---------+
| 2     | 2M      |
+-------+---------+
| 4     | 4M      |
+-------+---------+
| 5     | 5M      |
+-------+---------+
| 8     | 8M      |
+-------+---------+





.. _parameters_CAN_SLCAN_:

CAN\_SLCAN\_ Parameters
-----------------------


.. _CAN_SLCAN_CPORT:

CAN\_SLCAN\_CPORT: SLCAN Route
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

CAN Interface ID to be routed to SLCAN\, 0 means no routing


+-------+------------------+
| Value | Meaning          |
+=======+==================+
| 0     | Disabled         |
+-------+------------------+
| 1     | First interface  |
+-------+------------------+
| 2     | Second interface |
+-------+------------------+




.. _CAN_SLCAN_SERNUM:

CAN\_SLCAN\_SERNUM: SLCAN Serial Port
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Serial Port ID to be used for temporary SLCAN iface\, \-1 means no temporary serial\. This parameter is automatically reset on reboot or on timeout\. See CAN\_SLCAN\_TIMOUT for timeout details


+-------+----------+
| Value | Meaning  |
+=======+==========+
| -1    | Disabled |
+-------+----------+
| 0     | Serial0  |
+-------+----------+
| 1     | Serial1  |
+-------+----------+
| 2     | Serial2  |
+-------+----------+
| 3     | Serial3  |
+-------+----------+
| 4     | Serial4  |
+-------+----------+
| 5     | Serial5  |
+-------+----------+
| 6     | Serial6  |
+-------+----------+




.. _CAN_SLCAN_TIMOUT:

CAN\_SLCAN\_TIMOUT: SLCAN Timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Duration of inactivity after which SLCAN is switched back to original driver in seconds\.


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _CAN_SLCAN_SDELAY:

CAN\_SLCAN\_SDELAY: SLCAN Start Delay
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Duration after which slcan starts after setting SERNUM in seconds\.


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+





.. _parameters_COMPASS_:

COMPASS\_ Parameters
--------------------


.. _COMPASS_OFS_X:

COMPASS\_OFS\_X: Compass offsets in milligauss on the X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------------+-----------+-------------+------------+
| Calibration | Increment | Range       | Units      |
+=============+===========+=============+============+
| 1           | 1         | -400 to 400 | milligauss |
+-------------+-----------+-------------+------------+




.. _COMPASS_OFS_Y:

COMPASS\_OFS\_Y: Compass offsets in milligauss on the Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------------+-----------+-------------+------------+
| Calibration | Increment | Range       | Units      |
+=============+===========+=============+============+
| 1           | 1         | -400 to 400 | milligauss |
+-------------+-----------+-------------+------------+




.. _COMPASS_OFS_Z:

COMPASS\_OFS\_Z: Compass offsets in milligauss on the Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+------------+
| Increment | Range       | Units      |
+===========+=============+============+
| 1         | -400 to 400 | milligauss |
+-----------+-------------+------------+




.. _COMPASS_DEC:

COMPASS\_DEC: Compass declination
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


An angle to compensate between the true north and magnetic north


+-----------+-----------------+---------+
| Increment | Range           | Units   |
+===========+=================+=========+
| 0.01      | -3.142 to 3.142 | radians |
+-----------+-----------------+---------+




.. _COMPASS_LEARN:

COMPASS\_LEARN: Learn compass offsets automatically
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Enable or disable the automatic learning of compass offsets\. 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\.


+-------+-------------------+
| Value | Meaning           |
+=======+===================+
| 0     | Disabled          |
+-------+-------------------+
| 1     | Internal-Learning |
+-------+-------------------+
| 2     | EKF-Learning      |
+-------+-------------------+
| 3     | InFlight-Learning |
+-------+-------------------+




.. _COMPASS_USE:

COMPASS\_USE: Use compass for yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _COMPASS_AUTODEC:

COMPASS\_AUTODEC: Auto Declination
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _COMPASS_MOTCT:

COMPASS\_MOTCT: Motor interference compensation type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------+--------------+
| Value | Meaning      |
+=======+==============+
| 0     | Disabled     |
+-------+--------------+
| 1     | Use Throttle |
+-------+--------------+
| 2     | Use Current  |
+-------+--------------+




+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_MOT_X:

COMPASS\_MOT\_X: Motor interference compensation for body frame X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplied by the current throttle and added to the compass\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\)


+-------------+-----------+---------------+-----------------------+
| Calibration | Increment | Range         | Units                 |
+=============+===========+===============+=======================+
| 1           | 1         | -1000 to 1000 | milligauss per ampere |
+-------------+-----------+---------------+-----------------------+




.. _COMPASS_MOT_Y:

COMPASS\_MOT\_Y: Motor interference compensation for body frame Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplied by the current throttle and added to the compass\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\)


+-------------+-----------+---------------+-----------------------+
| Calibration | Increment | Range         | Units                 |
+=============+===========+===============+=======================+
| 1           | 1         | -1000 to 1000 | milligauss per ampere |
+-------------+-----------+---------------+-----------------------+




.. _COMPASS_MOT_Z:

COMPASS\_MOT\_Z: Motor interference compensation for body frame Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplied by the current throttle and added to the compass\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\)


+-----------+---------------+-----------------------+
| Increment | Range         | Units                 |
+===========+===============+=======================+
| 1         | -1000 to 1000 | milligauss per ampere |
+-----------+---------------+-----------------------+




.. _COMPASS_ORIENT:

COMPASS\_ORIENT: Compass orientation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The orientation of the first external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\.


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | None                 |
+-------+----------------------+
| 1     | Yaw45                |
+-------+----------------------+
| 2     | Yaw90                |
+-------+----------------------+
| 3     | Yaw135               |
+-------+----------------------+
| 4     | Yaw180               |
+-------+----------------------+
| 5     | Yaw225               |
+-------+----------------------+
| 6     | Yaw270               |
+-------+----------------------+
| 7     | Yaw315               |
+-------+----------------------+
| 8     | Roll180              |
+-------+----------------------+
| 9     | Yaw45Roll180         |
+-------+----------------------+
| 10    | Yaw90Roll180         |
+-------+----------------------+
| 11    | Yaw135Roll180        |
+-------+----------------------+
| 12    | Pitch180             |
+-------+----------------------+
| 13    | Yaw225Roll180        |
+-------+----------------------+
| 14    | Yaw270Roll180        |
+-------+----------------------+
| 15    | Yaw315Roll180        |
+-------+----------------------+
| 16    | Roll90               |
+-------+----------------------+
| 17    | Yaw45Roll90          |
+-------+----------------------+
| 18    | Yaw90Roll90          |
+-------+----------------------+
| 19    | Yaw135Roll90         |
+-------+----------------------+
| 20    | Roll270              |
+-------+----------------------+
| 21    | Yaw45Roll270         |
+-------+----------------------+
| 22    | Yaw90Roll270         |
+-------+----------------------+
| 23    | Yaw135Roll270        |
+-------+----------------------+
| 24    | Pitch90              |
+-------+----------------------+
| 25    | Pitch270             |
+-------+----------------------+
| 26    | Yaw90Pitch180        |
+-------+----------------------+
| 27    | Yaw270Pitch180       |
+-------+----------------------+
| 28    | Pitch90Roll90        |
+-------+----------------------+
| 29    | Pitch90Roll180       |
+-------+----------------------+
| 30    | Pitch90Roll270       |
+-------+----------------------+
| 31    | Pitch180Roll90       |
+-------+----------------------+
| 32    | Pitch180Roll270      |
+-------+----------------------+
| 33    | Pitch270Roll90       |
+-------+----------------------+
| 34    | Pitch270Roll180      |
+-------+----------------------+
| 35    | Pitch270Roll270      |
+-------+----------------------+
| 36    | Yaw90Pitch180Roll90  |
+-------+----------------------+
| 37    | Yaw270Roll90         |
+-------+----------------------+
| 38    | Yaw293Pitch68Roll180 |
+-------+----------------------+
| 39    | Pitch315             |
+-------+----------------------+
| 40    | Pitch315Roll90       |
+-------+----------------------+
| 42    | Roll45               |
+-------+----------------------+
| 43    | Roll315              |
+-------+----------------------+
| 100   | Custom 4.1 and older |
+-------+----------------------+
| 101   | Custom 1             |
+-------+----------------------+
| 102   | Custom 2             |
+-------+----------------------+




.. _COMPASS_EXTERNAL:

COMPASS\_EXTERNAL: Compass is attached via an external cable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Configure compass so it is attached externally\. This is auto\-detected on most boards\. Set to 1 if the compass is externally connected\. When externally connected the COMPASS\_ORIENT option operates independently of the AHRS\_ORIENTATION board orientation option\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\.


+-------+----------------+
| Value | Meaning        |
+=======+================+
| 0     | Internal       |
+-------+----------------+
| 1     | External       |
+-------+----------------+
| 2     | ForcedExternal |
+-------+----------------+




.. _COMPASS_OFS2_X:

COMPASS\_OFS2\_X: Compass2 offsets in milligauss on the X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Offset to be added to compass2\'s x\-axis values to compensate for metal in the frame


+-------------+-----------+-------------+------------+
| Calibration | Increment | Range       | Units      |
+=============+===========+=============+============+
| 1           | 1         | -400 to 400 | milligauss |
+-------------+-----------+-------------+------------+




.. _COMPASS_OFS2_Y:

COMPASS\_OFS2\_Y: Compass2 offsets in milligauss on the Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Offset to be added to compass2\'s y\-axis values to compensate for metal in the frame


+-------------+-----------+-------------+------------+
| Calibration | Increment | Range       | Units      |
+=============+===========+=============+============+
| 1           | 1         | -400 to 400 | milligauss |
+-------------+-----------+-------------+------------+




.. _COMPASS_OFS2_Z:

COMPASS\_OFS2\_Z: Compass2 offsets in milligauss on the Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Offset to be added to compass2\'s z\-axis values to compensate for metal in the frame


+-----------+-------------+------------+
| Increment | Range       | Units      |
+===========+=============+============+
| 1         | -400 to 400 | milligauss |
+-----------+-------------+------------+




.. _COMPASS_MOT2_X:

COMPASS\_MOT2\_X: Motor interference compensation to compass2 for body frame X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplied by the current throttle and added to compass2\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\)


+-------------+-----------+---------------+-----------------------+
| Calibration | Increment | Range         | Units                 |
+=============+===========+===============+=======================+
| 1           | 1         | -1000 to 1000 | milligauss per ampere |
+-------------+-----------+---------------+-----------------------+




.. _COMPASS_MOT2_Y:

COMPASS\_MOT2\_Y: Motor interference compensation to compass2 for body frame Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplied by the current throttle and added to compass2\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\)


+-------------+-----------+---------------+-----------------------+
| Calibration | Increment | Range         | Units                 |
+=============+===========+===============+=======================+
| 1           | 1         | -1000 to 1000 | milligauss per ampere |
+-------------+-----------+---------------+-----------------------+




.. _COMPASS_MOT2_Z:

COMPASS\_MOT2\_Z: Motor interference compensation to compass2 for body frame Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplied by the current throttle and added to compass2\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\)


+-----------+---------------+-----------------------+
| Increment | Range         | Units                 |
+===========+===============+=======================+
| 1         | -1000 to 1000 | milligauss per ampere |
+-----------+---------------+-----------------------+




.. _COMPASS_OFS3_X:

COMPASS\_OFS3\_X: Compass3 offsets in milligauss on the X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Offset to be added to compass3\'s x\-axis values to compensate for metal in the frame


+-------------+-----------+-------------+------------+
| Calibration | Increment | Range       | Units      |
+=============+===========+=============+============+
| 1           | 1         | -400 to 400 | milligauss |
+-------------+-----------+-------------+------------+




.. _COMPASS_OFS3_Y:

COMPASS\_OFS3\_Y: Compass3 offsets in milligauss on the Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Offset to be added to compass3\'s y\-axis values to compensate for metal in the frame


+-------------+-----------+-------------+------------+
| Calibration | Increment | Range       | Units      |
+=============+===========+=============+============+
| 1           | 1         | -400 to 400 | milligauss |
+-------------+-----------+-------------+------------+




.. _COMPASS_OFS3_Z:

COMPASS\_OFS3\_Z: Compass3 offsets in milligauss on the Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Offset to be added to compass3\'s z\-axis values to compensate for metal in the frame


+-----------+-------------+------------+
| Increment | Range       | Units      |
+===========+=============+============+
| 1         | -400 to 400 | milligauss |
+-----------+-------------+------------+




.. _COMPASS_MOT3_X:

COMPASS\_MOT3\_X: Motor interference compensation to compass3 for body frame X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplied by the current throttle and added to compass3\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\)


+-------------+-----------+---------------+-----------------------+
| Calibration | Increment | Range         | Units                 |
+=============+===========+===============+=======================+
| 1           | 1         | -1000 to 1000 | milligauss per ampere |
+-------------+-----------+---------------+-----------------------+




.. _COMPASS_MOT3_Y:

COMPASS\_MOT3\_Y: Motor interference compensation to compass3 for body frame Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplied by the current throttle and added to compass3\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\)


+-------------+-----------+---------------+-----------------------+
| Calibration | Increment | Range         | Units                 |
+=============+===========+===============+=======================+
| 1           | 1         | -1000 to 1000 | milligauss per ampere |
+-------------+-----------+---------------+-----------------------+




.. _COMPASS_MOT3_Z:

COMPASS\_MOT3\_Z: Motor interference compensation to compass3 for body frame Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Multiplied by the current throttle and added to compass3\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\)


+-----------+---------------+-----------------------+
| Increment | Range         | Units                 |
+===========+===============+=======================+
| 1         | -1000 to 1000 | milligauss per ampere |
+-----------+---------------+-----------------------+




.. _COMPASS_DEV_ID:

COMPASS\_DEV\_ID: Compass device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compass device id\.  Automatically detected\, do not set manually


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _COMPASS_DEV_ID2:

COMPASS\_DEV\_ID2: Compass2 device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _COMPASS_DEV_ID3:

COMPASS\_DEV\_ID3: Compass3 device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _COMPASS_USE2:

COMPASS\_USE2: Compass2 used for yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Enable or disable the secondary compass for determining heading\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _COMPASS_ORIENT2:

COMPASS\_ORIENT2: Compass2 orientation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The orientation of a second external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\.


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | None                 |
+-------+----------------------+
| 1     | Yaw45                |
+-------+----------------------+
| 2     | Yaw90                |
+-------+----------------------+
| 3     | Yaw135               |
+-------+----------------------+
| 4     | Yaw180               |
+-------+----------------------+
| 5     | Yaw225               |
+-------+----------------------+
| 6     | Yaw270               |
+-------+----------------------+
| 7     | Yaw315               |
+-------+----------------------+
| 8     | Roll180              |
+-------+----------------------+
| 9     | Yaw45Roll180         |
+-------+----------------------+
| 10    | Yaw90Roll180         |
+-------+----------------------+
| 11    | Yaw135Roll180        |
+-------+----------------------+
| 12    | Pitch180             |
+-------+----------------------+
| 13    | Yaw225Roll180        |
+-------+----------------------+
| 14    | Yaw270Roll180        |
+-------+----------------------+
| 15    | Yaw315Roll180        |
+-------+----------------------+
| 16    | Roll90               |
+-------+----------------------+
| 17    | Yaw45Roll90          |
+-------+----------------------+
| 18    | Yaw90Roll90          |
+-------+----------------------+
| 19    | Yaw135Roll90         |
+-------+----------------------+
| 20    | Roll270              |
+-------+----------------------+
| 21    | Yaw45Roll270         |
+-------+----------------------+
| 22    | Yaw90Roll270         |
+-------+----------------------+
| 23    | Yaw135Roll270        |
+-------+----------------------+
| 24    | Pitch90              |
+-------+----------------------+
| 25    | Pitch270             |
+-------+----------------------+
| 26    | Yaw90Pitch180        |
+-------+----------------------+
| 27    | Yaw270Pitch180       |
+-------+----------------------+
| 28    | Pitch90Roll90        |
+-------+----------------------+
| 29    | Pitch90Roll180       |
+-------+----------------------+
| 30    | Pitch90Roll270       |
+-------+----------------------+
| 31    | Pitch180Roll90       |
+-------+----------------------+
| 32    | Pitch180Roll270      |
+-------+----------------------+
| 33    | Pitch270Roll90       |
+-------+----------------------+
| 34    | Pitch270Roll180      |
+-------+----------------------+
| 35    | Pitch270Roll270      |
+-------+----------------------+
| 36    | Yaw90Pitch180Roll90  |
+-------+----------------------+
| 37    | Yaw270Roll90         |
+-------+----------------------+
| 38    | Yaw293Pitch68Roll180 |
+-------+----------------------+
| 39    | Pitch315             |
+-------+----------------------+
| 40    | Pitch315Roll90       |
+-------+----------------------+
| 42    | Roll45               |
+-------+----------------------+
| 43    | Roll315              |
+-------+----------------------+
| 100   | Custom 4.1 and older |
+-------+----------------------+
| 101   | Custom 1             |
+-------+----------------------+
| 102   | Custom 2             |
+-------+----------------------+




.. _COMPASS_EXTERN2:

COMPASS\_EXTERN2: Compass2 is attached via an external cable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Configure second compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\.


+-------+----------------+
| Value | Meaning        |
+=======+================+
| 0     | Internal       |
+-------+----------------+
| 1     | External       |
+-------+----------------+
| 2     | ForcedExternal |
+-------+----------------+




.. _COMPASS_USE3:

COMPASS\_USE3: Compass3 used for yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Enable or disable the tertiary compass for determining heading\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _COMPASS_ORIENT3:

COMPASS\_ORIENT3: Compass3 orientation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The orientation of a third external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\.


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | None                 |
+-------+----------------------+
| 1     | Yaw45                |
+-------+----------------------+
| 2     | Yaw90                |
+-------+----------------------+
| 3     | Yaw135               |
+-------+----------------------+
| 4     | Yaw180               |
+-------+----------------------+
| 5     | Yaw225               |
+-------+----------------------+
| 6     | Yaw270               |
+-------+----------------------+
| 7     | Yaw315               |
+-------+----------------------+
| 8     | Roll180              |
+-------+----------------------+
| 9     | Yaw45Roll180         |
+-------+----------------------+
| 10    | Yaw90Roll180         |
+-------+----------------------+
| 11    | Yaw135Roll180        |
+-------+----------------------+
| 12    | Pitch180             |
+-------+----------------------+
| 13    | Yaw225Roll180        |
+-------+----------------------+
| 14    | Yaw270Roll180        |
+-------+----------------------+
| 15    | Yaw315Roll180        |
+-------+----------------------+
| 16    | Roll90               |
+-------+----------------------+
| 17    | Yaw45Roll90          |
+-------+----------------------+
| 18    | Yaw90Roll90          |
+-------+----------------------+
| 19    | Yaw135Roll90         |
+-------+----------------------+
| 20    | Roll270              |
+-------+----------------------+
| 21    | Yaw45Roll270         |
+-------+----------------------+
| 22    | Yaw90Roll270         |
+-------+----------------------+
| 23    | Yaw135Roll270        |
+-------+----------------------+
| 24    | Pitch90              |
+-------+----------------------+
| 25    | Pitch270             |
+-------+----------------------+
| 26    | Yaw90Pitch180        |
+-------+----------------------+
| 27    | Yaw270Pitch180       |
+-------+----------------------+
| 28    | Pitch90Roll90        |
+-------+----------------------+
| 29    | Pitch90Roll180       |
+-------+----------------------+
| 30    | Pitch90Roll270       |
+-------+----------------------+
| 31    | Pitch180Roll90       |
+-------+----------------------+
| 32    | Pitch180Roll270      |
+-------+----------------------+
| 33    | Pitch270Roll90       |
+-------+----------------------+
| 34    | Pitch270Roll180      |
+-------+----------------------+
| 35    | Pitch270Roll270      |
+-------+----------------------+
| 36    | Yaw90Pitch180Roll90  |
+-------+----------------------+
| 37    | Yaw270Roll90         |
+-------+----------------------+
| 38    | Yaw293Pitch68Roll180 |
+-------+----------------------+
| 39    | Pitch315             |
+-------+----------------------+
| 40    | Pitch315Roll90       |
+-------+----------------------+
| 42    | Roll45               |
+-------+----------------------+
| 43    | Roll315              |
+-------+----------------------+
| 100   | Custom 4.1 and older |
+-------+----------------------+
| 101   | Custom 1             |
+-------+----------------------+
| 102   | Custom 2             |
+-------+----------------------+




.. _COMPASS_EXTERN3:

COMPASS\_EXTERN3: Compass3 is attached via an external cable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Configure third compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\.


+-------+----------------+
| Value | Meaning        |
+=======+================+
| 0     | Internal       |
+-------+----------------+
| 1     | External       |
+-------+----------------+
| 2     | ForcedExternal |
+-------+----------------+




.. _COMPASS_DIA_X:

COMPASS\_DIA\_X: Compass soft\-iron diagonal X component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

DIA\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_DIA_Y:

COMPASS\_DIA\_Y: Compass soft\-iron diagonal Y component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

DIA\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_DIA_Z:

COMPASS\_DIA\_Z: Compass soft\-iron diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

DIA\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


.. _COMPASS_ODI_X:

COMPASS\_ODI\_X: Compass soft\-iron off\-diagonal X component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

ODI\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_ODI_Y:

COMPASS\_ODI\_Y: Compass soft\-iron off\-diagonal Y component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

ODI\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_ODI_Z:

COMPASS\_ODI\_Z: Compass soft\-iron off\-diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

ODI\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


.. _COMPASS_DIA2_X:

COMPASS\_DIA2\_X: Compass2 soft\-iron diagonal X component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

DIA\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_DIA2_Y:

COMPASS\_DIA2\_Y: Compass2 soft\-iron diagonal Y component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

DIA\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_DIA2_Z:

COMPASS\_DIA2\_Z: Compass2 soft\-iron diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

DIA\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


.. _COMPASS_ODI2_X:

COMPASS\_ODI2\_X: Compass2 soft\-iron off\-diagonal X component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

ODI\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_ODI2_Y:

COMPASS\_ODI2\_Y: Compass2 soft\-iron off\-diagonal Y component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

ODI\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_ODI2_Z:

COMPASS\_ODI2\_Z: Compass2 soft\-iron off\-diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

ODI\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


.. _COMPASS_DIA3_X:

COMPASS\_DIA3\_X: Compass3 soft\-iron diagonal X component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

DIA\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_DIA3_Y:

COMPASS\_DIA3\_Y: Compass3 soft\-iron diagonal Y component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

DIA\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_DIA3_Z:

COMPASS\_DIA3\_Z: Compass3 soft\-iron diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

DIA\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


.. _COMPASS_ODI3_X:

COMPASS\_ODI3\_X: Compass3 soft\-iron off\-diagonal X component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

ODI\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_ODI3_Y:

COMPASS\_ODI3\_Y: Compass3 soft\-iron off\-diagonal Y component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

ODI\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _COMPASS_ODI3_Z:

COMPASS\_ODI3\_Z: Compass3 soft\-iron off\-diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

ODI\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]


.. _COMPASS_CAL_FIT:

COMPASS\_CAL\_FIT: Compass calibration fitness
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls the fitness level required for a successful compass calibration\. A lower value makes for a stricter fit \(less likely to pass\)\. This is the value used for the primary magnetometer\. Other magnetometers get double the value\.


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 4     | Very Strict |
+-------+-------------+
| 8     | Strict      |
+-------+-------------+
| 16    | Default     |
+-------+-------------+
| 32    | Relaxed     |
+-------+-------------+




+-----------+---------+
| Increment | Range   |
+===========+=========+
| 0.1       | 4 to 32 |
+-----------+---------+




.. _COMPASS_OFFS_MAX:

COMPASS\_OFFS\_MAX: Compass maximum offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the maximum allowed compass offset in calibration and arming checks


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 1         | 500 to 3000 |
+-----------+-------------+




.. _COMPASS_TYPEMASK:

COMPASS\_TYPEMASK: Compass disable driver type mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is a bitmask of driver types to disable\. If a driver type is set in this mask then that driver will not try to find a sensor at startup


+-----+--------------+
| Bit | Meaning      |
+=====+==============+
| 0   | HMC5883      |
+-----+--------------+
| 1   | LSM303D      |
+-----+--------------+
| 2   | AK8963       |
+-----+--------------+
| 3   | BMM150       |
+-----+--------------+
| 4   | LSM9DS1      |
+-----+--------------+
| 5   | LIS3MDL      |
+-----+--------------+
| 6   | AK09916      |
+-----+--------------+
| 7   | IST8310      |
+-----+--------------+
| 8   | ICM20948     |
+-----+--------------+
| 9   | MMC3416      |
+-----+--------------+
| 11  | DroneCAN     |
+-----+--------------+
| 12  | QMC5883      |
+-----+--------------+
| 14  | MAG3110      |
+-----+--------------+
| 15  | IST8308      |
+-----+--------------+
| 16  | RM3100       |
+-----+--------------+
| 17  | MSP          |
+-----+--------------+
| 18  | ExternalAHRS |
+-----+--------------+




.. _COMPASS_FLTR_RNG:

COMPASS\_FLTR\_RNG: Range in which sample is accepted
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | 0 to 100 | percent |
+-----------+----------+---------+




.. _COMPASS_AUTO_ROT:

COMPASS\_AUTO\_ROT: Automatically check orientation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


When enabled this will automatically check the orientation of compasses on successful completion of compass calibration\. If set to 2 then external compasses will have their orientation automatically corrected\.


+-------+----------------------------------------------------+
| Value | Meaning                                            |
+=======+====================================================+
| 0     | Disabled                                           |
+-------+----------------------------------------------------+
| 1     | CheckOnly                                          |
+-------+----------------------------------------------------+
| 2     | CheckAndFix                                        |
+-------+----------------------------------------------------+
| 3     | use same tolerance to auto rotate 45 deg rotations |
+-------+----------------------------------------------------+




.. _COMPASS_PRIO1_ID:

COMPASS\_PRIO1\_ID: Compass device id with 1st order priority
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Compass device id with 1st order priority\, set automatically if 0\. Reboot required after change\.


.. _COMPASS_PRIO2_ID:

COMPASS\_PRIO2\_ID: Compass device id with 2nd order priority
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Compass device id with 2nd order priority\, set automatically if 0\. Reboot required after change\.


.. _COMPASS_PRIO3_ID:

COMPASS\_PRIO3\_ID: Compass device id with 3rd order priority
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Compass device id with 3rd order priority\, set automatically if 0\. Reboot required after change\.


.. _COMPASS_ENABLE:

COMPASS\_ENABLE: Enable Compass
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _COMPASS_SCALE:

COMPASS\_SCALE: Compass1 scale factor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Scaling factor for first compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done


+----------+
| Range    |
+==========+
| 0 to 1.3 |
+----------+




.. _COMPASS_SCALE2:

COMPASS\_SCALE2: Compass2 scale factor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Scaling factor for 2nd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done


+----------+
| Range    |
+==========+
| 0 to 1.3 |
+----------+




.. _COMPASS_SCALE3:

COMPASS\_SCALE3: Compass3 scale factor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Scaling factor for 3rd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done


+----------+
| Range    |
+==========+
| 0 to 1.3 |
+----------+




.. _COMPASS_OPTIONS:

COMPASS\_OPTIONS: Compass options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets options to change the behaviour of the compass


+-----+---------------+
| Bit | Meaning       |
+=====+===============+
| 0   | CalRequireGPS |
+-----+---------------+




.. _COMPASS_DEV_ID4:

COMPASS\_DEV\_ID4: Compass4 device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Extra 4th compass\'s device id\.  Automatically detected\, do not set manually


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _COMPASS_DEV_ID5:

COMPASS\_DEV\_ID5: Compass5 device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Extra 5th compass\'s device id\.  Automatically detected\, do not set manually


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _COMPASS_DEV_ID6:

COMPASS\_DEV\_ID6: Compass6 device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Extra 6th compass\'s device id\.  Automatically detected\, do not set manually


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _COMPASS_DEV_ID7:

COMPASS\_DEV\_ID7: Compass7 device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Extra 7th compass\'s device id\.  Automatically detected\, do not set manually


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _COMPASS_DEV_ID8:

COMPASS\_DEV\_ID8: Compass8 device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Extra 8th compass\'s device id\.  Automatically detected\, do not set manually


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _COMPASS_CUS_ROLL:

COMPASS\_CUS\_ROLL: Custom orientation roll offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

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\.


+-----------+-------------+---------+
| Increment | Range       | Units   |
+===========+=============+=========+
| 1         | -180 to 180 | degrees |
+-----------+-------------+---------+




.. _COMPASS_CUS_PIT:

COMPASS\_CUS\_PIT: Custom orientation pitch offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

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\.


+-----------+-------------+---------+
| Increment | Range       | Units   |
+===========+=============+=========+
| 1         | -180 to 180 | degrees |
+-----------+-------------+---------+




.. _COMPASS_CUS_YAW:

COMPASS\_CUS\_YAW: Custom orientation yaw offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

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\.


+-----------+-------------+---------+
| Increment | Range       | Units   |
+===========+=============+=========+
| 1         | -180 to 180 | degrees |
+-----------+-------------+---------+





.. _parameters_COMPASS_PMOT:

COMPASS\_PMOT Parameters
------------------------


.. _COMPASS_PMOT_EN:

COMPASS\_PMOT\_EN: per\-motor compass correction enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This enables per\-motor compass corrections


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _COMPASS_PMOT_EXP:

COMPASS\_PMOT\_EXP: per\-motor exponential correction
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the exponential correction for the power output of the motor for per\-motor compass correction


+-----------+--------+
| Increment | Range  |
+===========+========+
| 0.01      | 0 to 2 |
+-----------+--------+




.. _COMPASS_PMOT1_X:

COMPASS\_PMOT1\_X: Compass per\-motor1 X
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for X axis of motor1


.. _COMPASS_PMOT1_Y:

COMPASS\_PMOT1\_Y: Compass per\-motor1 Y
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for Y axis of motor1


.. _COMPASS_PMOT1_Z:

COMPASS\_PMOT1\_Z: Compass per\-motor1 Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for Z axis of motor1


.. _COMPASS_PMOT2_X:

COMPASS\_PMOT2\_X: Compass per\-motor2 X
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for X axis of motor2


.. _COMPASS_PMOT2_Y:

COMPASS\_PMOT2\_Y: Compass per\-motor2 Y
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for Y axis of motor2


.. _COMPASS_PMOT2_Z:

COMPASS\_PMOT2\_Z: Compass per\-motor2 Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for Z axis of motor2


.. _COMPASS_PMOT3_X:

COMPASS\_PMOT3\_X: Compass per\-motor3 X
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for X axis of motor3


.. _COMPASS_PMOT3_Y:

COMPASS\_PMOT3\_Y: Compass per\-motor3 Y
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for Y axis of motor3


.. _COMPASS_PMOT3_Z:

COMPASS\_PMOT3\_Z: Compass per\-motor3 Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for Z axis of motor3


.. _COMPASS_PMOT4_X:

COMPASS\_PMOT4\_X: Compass per\-motor4 X
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for X axis of motor4


.. _COMPASS_PMOT4_Y:

COMPASS\_PMOT4\_Y: Compass per\-motor4 Y
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for Y axis of motor4


.. _COMPASS_PMOT4_Z:

COMPASS\_PMOT4\_Z: Compass per\-motor4 Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Compensation for Z axis of motor4



.. _parameters_CUST_ROT:

CUST\_ROT Parameters
--------------------


.. _CUST_ROT_ENABLE:

CUST\_ROT\_ENABLE: Enable Custom rotations
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

This enables custom rotations


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Disable |
+-------+---------+
| 1     | Enable  |
+-------+---------+





.. _parameters_CUST_ROT1_:

CUST\_ROT1\_ Parameters
-----------------------


.. _CUST_ROT1_ROLL:

CUST\_ROT1\_ROLL: Custom roll
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering


+---------+
| Units   |
+=========+
| degrees |
+---------+




.. _CUST_ROT1_PITCH:

CUST\_ROT1\_PITCH: Custom pitch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering


+---------+
| Units   |
+=========+
| degrees |
+---------+




.. _CUST_ROT1_YAW:

CUST\_ROT1\_YAW: Custom yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering


+---------+
| Units   |
+=========+
| degrees |
+---------+





.. _parameters_CUST_ROT2_:

CUST\_ROT2\_ Parameters
-----------------------


.. _CUST_ROT2_ROLL:

CUST\_ROT2\_ROLL: Custom roll
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering


+---------+
| Units   |
+=========+
| degrees |
+---------+




.. _CUST_ROT2_PITCH:

CUST\_ROT2\_PITCH: Custom pitch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering


+---------+
| Units   |
+=========+
| degrees |
+---------+




.. _CUST_ROT2_YAW:

CUST\_ROT2\_YAW: Custom yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering


+---------+
| Units   |
+=========+
| degrees |
+---------+





.. _parameters_DID_:

DID\_ Parameters
----------------


.. _DID_ENABLE:

DID\_ENABLE: Enable ODID subsystem
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Enable ODID subsystem


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _DID_MAVPORT:

DID\_MAVPORT: MAVLink serial port
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Serial port number to send OpenDroneID MAVLink messages to\. Can be \-1 if using DroneCAN\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| -1    | Disabled |
+-------+----------+
| 0     | Serial0  |
+-------+----------+
| 1     | Serial1  |
+-------+----------+
| 2     | Serial2  |
+-------+----------+
| 3     | Serial3  |
+-------+----------+
| 4     | Serial4  |
+-------+----------+
| 5     | Serial5  |
+-------+----------+
| 6     | Serial6  |
+-------+----------+




.. _DID_CANDRIVER:

DID\_CANDRIVER: DroneCAN driver number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


DroneCAN driver index\, 0 to disable DroneCAN


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Driver1  |
+-------+----------+
| 2     | Driver2  |
+-------+----------+




.. _DID_OPTIONS:

DID\_OPTIONS: OpenDroneID options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Options for OpenDroneID subsystem\. Bit 0 means to enforce arming checks


+-----+---------------+
| Bit | Meaning       |
+=====+===============+
| 0   | EnforceArming |
+-----+---------------+




.. _DID_BARO_ACC:

DID\_BARO\_ACC: Barometer vertical accuraacy
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Barometer Vertical Accuracy when installed in the vehicle\. Note this is dependent upon installation conditions and thus disabled by default


+--------+
| Units  |
+========+
| meters |
+--------+





.. _parameters_EAHRS:

EAHRS Parameters
----------------


.. _EAHRS_TYPE:

EAHRS\_TYPE: AHRS type
~~~~~~~~~~~~~~~~~~~~~~


Type of AHRS device


+-------+-----------+
| Value | Meaning   |
+=======+===========+
| 0     | None      |
+-------+-----------+
| 1     | VectorNav |
+-------+-----------+
| 2     | LORD      |
+-------+-----------+




.. _EAHRS_RATE:

EAHRS\_RATE: AHRS data rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~


Requested rate for AHRS device


+-------+
| Units |
+=======+
| hertz |
+-------+





.. _parameters_EFI:

EFI Parameters
--------------


.. _EFI_TYPE:

EFI\_TYPE: EFI communication type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

What method of communication is used for EFI \#1


+-------+---------------+
| Value | Meaning       |
+=======+===============+
| 0     | None          |
+-------+---------------+
| 1     | Serial-MS     |
+-------+---------------+
| 2     | NWPMU         |
+-------+---------------+
| 3     | Serial-Lutan  |
+-------+---------------+
| 5     | DroneCAN      |
+-------+---------------+
| 6     | Currawong-ECU |
+-------+---------------+
| 7     | Scripting     |
+-------+---------------+




.. _EFI_COEF1:

EFI\_COEF1: EFI Calibration Coefficient 1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to calibrate fuel flow for MS protocol \(Slope\)\. This should be calculated from a log at constant fuel usage rate\. Plot \(ECYL\[0\]\.InjT\*EFI\.Rpm\)\/600\.0 to get the duty\_cycle\. Measure actual fuel usage in cm\^3\/min\, and set EFI\_COEF1 \= fuel\_usage\_cm3permin \/ duty\_cycle


+--------+
| Range  |
+========+
| 0 to 1 |
+--------+




.. _EFI_COEF2:

EFI\_COEF2: EFI Calibration Coefficient 2
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to calibrate fuel flow for MS protocol \(Offset\)\. This can be used to correct for a non\-zero offset in the fuel consumption calculation of EFI\_COEF1


+---------+
| Range   |
+=========+
| 0 to 10 |
+---------+




.. _EFI_FUEL_DENS:

EFI\_FUEL\_DENS: ECU Fuel Density
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Used to calculate fuel consumption


+------------+---------------------------+
| Range      | Units                     |
+============+===========================+
| 0 to 10000 | kilograms per cubic meter |
+------------+---------------------------+





.. _parameters_EK2_:

EK2\_ Parameters
----------------


.. _EK2_ENABLE:

EK2\_ENABLE: Enable EKF2
~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This enables EKF2\. Enabling EKF2 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=2\. A reboot or restart will need to be performed after changing the value of EK2\_ENABLE for it to take effect\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _EK2_GPS_TYPE:

EK2\_GPS\_TYPE: GPS mode control
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls use of GPS measurements \: 0 \= use 3D velocity \& 2D position\, 1 \= use 2D velocity and 2D position\, 2 \= use 2D position\, 3 \= Inhibit GPS use \- this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors\.


+-------+-----------------------+
| Value | Meaning               |
+=======+=======================+
| 0     | GPS 3D Vel and 2D Pos |
+-------+-----------------------+
| 1     | GPS 2D vel and 2D pos |
+-------+-----------------------+
| 2     | GPS 2D pos            |
+-------+-----------------------+
| 3     | No GPS                |
+-------+-----------------------+




.. _EK2_VELNE_M_NSE:

EK2\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\.


+-----------+-------------+-------------------+
| Increment | Range       | Units             |
+===========+=============+===================+
| 0.05      | 0.05 to 5.0 | meters per second |
+-----------+-------------+-------------------+




.. _EK2_VELD_M_NSE:

EK2\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\.


+-----------+-------------+-------------------+
| Increment | Range       | Units             |
+===========+=============+===================+
| 0.05      | 0.05 to 5.0 | meters per second |
+-----------+-------------+-------------------+




.. _EK2_VEL_I_GATE:

EK2\_VEL\_I\_GATE: GPS velocity innovation gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK2_POSNE_M_NSE:

EK2\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\.


+-----------+-------------+--------+
| Increment | Range       | Units  |
+===========+=============+========+
| 0.1       | 0.1 to 10.0 | meters |
+-----------+-------------+--------+




.. _EK2_POS_I_GATE:

EK2\_POS\_I\_GATE: GPS position measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK2_GLITCH_RAD:

EK2\_GLITCH\_RAD: GPS glitch radius gate size \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\.


+-----------+-----------+--------+
| Increment | Range     | Units  |
+===========+===========+========+
| 5         | 10 to 100 | meters |
+-----------+-----------+--------+




.. _EK2_ALT_SOURCE:

EK2\_ALT\_SOURCE: Primary altitude sensor source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Primary height sensor used by the EKF\. If a sensor other than Baro is selected and becomes unavailable\, then the Baro sensor will be used as a fallback\. NOTE\: The EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground in conjunction with EK2\_ALT\_SOURCE \= 0 or 2 \(Baro or GPS\)\.


+-------+------------------+
| Value | Meaning          |
+=======+==================+
| 0     | Use Baro         |
+-------+------------------+
| 1     | Use Range Finder |
+-------+------------------+
| 2     | Use GPS          |
+-------+------------------+
| 3     | Use Range Beacon |
+-------+------------------+




.. _EK2_ALT_M_NSE:

EK2\_ALT\_M\_NSE: Altitude measurement noise \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\.


+-----------+-------------+--------+
| Increment | Range       | Units  |
+===========+=============+========+
| 0.1       | 0.1 to 10.0 | meters |
+-----------+-------------+--------+




.. _EK2_HGT_I_GATE:

EK2\_HGT\_I\_GATE: Height measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK2_HGT_DELAY:

EK2\_HGT\_DELAY: Height measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This is the number of msec that the Height measurements lag behind the inertial measurements\.


+-----------+----------+--------------+
| Increment | Range    | Units        |
+===========+==========+==============+
| 10        | 0 to 250 | milliseconds |
+-----------+----------+--------------+




.. _EK2_MAG_M_NSE:

EK2\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+-------+
| Increment | Range       | Units |
+===========+=============+=======+
| 0.01      | 0.01 to 0.5 | gauss |
+-----------+-------------+-------+




.. _EK2_MAG_CAL:

EK2\_MAG\_CAL: Magnetometer default fusion mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states\, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK2\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK2\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK2\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK2\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK2\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK2\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 with COMPASS\_ENABLE set to 1\. If this is done\, the EK2\_GSF\_RUN and EK2\_GSF\_USE masks must be set to the same as EK2\_IMU\_MASK\.


+-------+-----------------------------+
| Value | Meaning                     |
+=======+=============================+
| 0     | When flying                 |
+-------+-----------------------------+
| 1     | When manoeuvring            |
+-------+-----------------------------+
| 2     | Never                       |
+-------+-----------------------------+
| 3     | After first climb yaw reset |
+-------+-----------------------------+
| 4     | Always                      |
+-------+-----------------------------+




.. _EK2_MAG_I_GATE:

EK2\_MAG\_I\_GATE: Magnetometer measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK2_EAS_M_NSE:

EK2\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\.


+-----------+------------+-------------------+
| Increment | Range      | Units             |
+===========+============+===================+
| 0.1       | 0.5 to 5.0 | meters per second |
+-----------+------------+-------------------+




.. _EK2_EAS_I_GATE:

EK2\_EAS\_I\_GATE: Airspeed measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK2_RNG_M_NSE:

EK2\_RNG\_M\_NSE: Range finder measurement noise \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+--------+
| Increment | Range       | Units  |
+===========+=============+========+
| 0.1       | 0.1 to 10.0 | meters |
+-----------+-------------+--------+




.. _EK2_RNG_I_GATE:

EK2\_RNG\_I\_GATE: Range finder measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK2_MAX_FLOW:

EK2\_MAX\_FLOW: Maximum valid optical flow rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter


+-----------+------------+--------------------+
| Increment | Range      | Units              |
+===========+============+====================+
| 0.1       | 1.0 to 4.0 | radians per second |
+-----------+------------+--------------------+




.. _EK2_FLOW_M_NSE:

EK2\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\.


+-----------+-------------+--------------------+
| Increment | Range       | Units              |
+===========+=============+====================+
| 0.05      | 0.05 to 1.0 | radians per second |
+-----------+-------------+--------------------+




.. _EK2_FLOW_I_GATE:

EK2\_FLOW\_I\_GATE: Optical Flow measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK2_FLOW_DELAY:

EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\.


+-----------+----------+--------------+
| Increment | Range    | Units        |
+===========+==========+==============+
| 10        | 0 to 127 | milliseconds |
+-----------+----------+--------------+




.. _EK2_GYRO_P_NSE:

EK2\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+---------------+--------------------+
| Increment | Range         | Units              |
+===========+===============+====================+
| 0.0001    | 0.0001 to 0.1 | radians per second |
+-----------+---------------+--------------------+




.. _EK2_ACC_P_NSE:

EK2\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+--------------------------+
| Increment | Range       | Units                    |
+===========+=============+==========================+
| 0.01      | 0.01 to 1.0 | meters per square second |
+-----------+-------------+--------------------------+




.. _EK2_GBIAS_P_NSE:

EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This state  process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\.


+------------------+---------------------------+
| Range            | Units                     |
+==================+===========================+
| 0.00001 to 0.001 | radians per square second |
+------------------+---------------------------+




.. _EK2_GSCL_P_NSE:

EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\.


+-------------------+-------+
| Range             | Units |
+===================+=======+
| 0.000001 to 0.001 | hertz |
+-------------------+-------+




.. _EK2_ABIAS_P_NSE:

EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+------------------+-------------------------+
| Range            | Units                   |
+==================+=========================+
| 0.00001 to 0.005 | meters per cubic second |
+------------------+-------------------------+




.. _EK2_WIND_P_NSE:

EK2\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+--------------------------+
| Increment | Range       | Units                    |
+===========+=============+==========================+
| 0.1       | 0.01 to 1.0 | meters per square second |
+-----------+-------------+--------------------------+




.. _EK2_WIND_PSCALE:

EK2\_WIND\_PSCALE: Height rate to wind process noise scaler
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\.


+-----------+------------+
| Increment | Range      |
+===========+============+
| 0.1       | 0.0 to 1.0 |
+-----------+------------+




.. _EK2_GPS_CHECK:

EK2\_GPS\_CHECK: GPS preflight check
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\.


+-----+----------------+
| Bit | Meaning        |
+=====+================+
| 0   | NSats          |
+-----+----------------+
| 1   | HDoP           |
+-----+----------------+
| 2   | speed error    |
+-----+----------------+
| 3   | position error |
+-----+----------------+
| 4   | yaw error      |
+-----+----------------+
| 5   | pos drift      |
+-----+----------------+
| 6   | vert speed     |
+-----+----------------+
| 7   | horiz speed    |
+-----+----------------+




.. _EK2_IMU_MASK:

EK2\_IMU\_MASK: Bitmask of active IMUs
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

1 byte bitmap of IMUs to use in EKF2\. A separate instance of EKF2 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF2 will fail to start\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | FirstIMU  |
+-----+-----------+
| 1   | SecondIMU |
+-----+-----------+
| 2   | ThirdIMU  |
+-----+-----------+
| 3   | FourthIMU |
+-----+-----------+
| 4   | FifthIMU  |
+-----+-----------+
| 5   | SixthIMU  |
+-----+-----------+




.. _EK2_CHECK_SCALE:

EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\.


+-----------+---------+
| Range     | Units   |
+===========+=========+
| 50 to 200 | percent |
+-----------+---------+




.. _EK2_NOAID_M_NSE:

EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\.


+-------------+--------+
| Range       | Units  |
+=============+========+
| 0.5 to 50.0 | meters |
+-------------+--------+




.. _EK2_YAW_M_NSE:

EK2\_YAW\_M\_NSE: Yaw measurement noise \(rad\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------+
| Increment | Range       | Units   |
+===========+=============+=========+
| 0.05      | 0.05 to 1.0 | radians |
+-----------+-------------+---------+




.. _EK2_YAW_I_GATE:

EK2\_YAW\_I\_GATE: Yaw measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK2_TAU_OUTPUT:

EK2\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Sets the time constant of the output complementary filter\/predictor in centi\-seconds\.


+-----------+----------+--------------+
| Increment | Range    | Units        |
+===========+==========+==============+
| 5         | 10 to 50 | centiseconds |
+-----------+----------+--------------+




.. _EK2_MAGE_P_NSE:

EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------------+------------------+
| Range           | Units            |
+=================+==================+
| 0.00001 to 0.01 | gauss per second |
+-----------------+------------------+




.. _EK2_MAGB_P_NSE:

EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------------+------------------+
| Range           | Units            |
+=================+==================+
| 0.00001 to 0.01 | gauss per second |
+-----------------+------------------+




.. _EK2_RNG_USE_HGT:

EK2\_RNG\_USE\_HGT: Range finder switch height percentage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFND\_MAX\_CM\)\. 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\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | -1 to 70 | percent |
+-----------+----------+---------+




.. _EK2_TERR_GRAD:

EK2\_TERR\_GRAD: Maximum terrain gradient
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height\.


+-----------+----------+
| Increment | Range    |
+===========+==========+
| 0.01      | 0 to 0.2 |
+-----------+----------+




.. _EK2_BCN_M_NSE:

EK2\_BCN\_M\_NSE: Range beacon measurement noise \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+--------+
| Increment | Range       | Units  |
+===========+=============+========+
| 0.1       | 0.1 to 10.0 | meters |
+-----------+-------------+--------+




.. _EK2_BCN_I_GTE:

EK2\_BCN\_I\_GTE: Range beacon measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK2_BCN_DELAY:

EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This is the number of msec that the range beacon measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\.


+-----------+----------+--------------+
| Increment | Range    | Units        |
+===========+==========+==============+
| 10        | 0 to 127 | milliseconds |
+-----------+----------+--------------+




.. _EK2_RNG_USE_SPD:

EK2\_RNG\_USE\_SPD: Range finder max ground speed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\.


+-----------+------------+-------------------+
| Increment | Range      | Units             |
+===========+============+===================+
| 0.5       | 2.0 to 6.0 | meters per second |
+-----------+------------+-------------------+




.. _EK2_MAG_MASK:

EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | FirstEKF  |
+-----+-----------+
| 1   | SecondEKF |
+-----+-----------+
| 2   | ThirdEKF  |
+-----+-----------+
| 3   | FourthEKF |
+-----+-----------+
| 4   | FifthEKF  |
+-----+-----------+
| 5   | SixthEKF  |
+-----+-----------+




.. _EK2_OGN_HGT_MASK:

EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\.


+-----+----------------------------------------+
| Bit | Meaning                                |
+=====+========================================+
| 0   | Correct when using Baro height         |
+-----+----------------------------------------+
| 1   | Correct when using range finder height |
+-----+----------------------------------------+
| 2   | Apply corrections to local position    |
+-----+----------------------------------------+




.. _EK2_FLOW_USE:

EK2\_FLOW\_USE: Optical flow use bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\.


+-------+------------+
| Value | Meaning    |
+=======+============+
| 0     | None       |
+-------+------------+
| 1     | Navigation |
+-------+------------+
| 2     | Terrain    |
+-------+------------+




.. _EK2_MAG_EF_LIM:

EK2\_MAG\_EF\_LIM: EarthField error limit
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\.


+----------+------------+
| Range    | Units      |
+==========+============+
| 0 to 500 | milligauss |
+----------+------------+




.. _EK2_HRT_FILT:

EK2\_HRT\_FILT: Height rate filter crossover frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\.


+-------------+-------+
| Range       | Units |
+=============+=======+
| 0.1 to 30.0 | hertz |
+-------------+-------+




.. _EK2_GSF_RUN_MASK:

EK2\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

A bitmask of which EKF2 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK2\_GSF\_USE\_MASK and EK2\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK2\_GSF\_USE\_MASK to 0\. 


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | FirstEKF  |
+-----+-----------+
| 1   | SecondEKF |
+-----+-----------+
| 2   | ThirdEKF  |
+-----+-----------+
| 3   | FourthEKF |
+-----+-----------+
| 4   | FifthEKF  |
+-----+-----------+
| 5   | SixthEKF  |
+-----+-----------+




.. _EK2_GSF_USE_MASK:

EK2\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

1 byte bitmap of which EKF2 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK2\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF2 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | FirstEKF  |
+-----+-----------+
| 1   | SecondEKF |
+-----+-----------+
| 2   | ThirdEKF  |
+-----+-----------+
| 3   | FourthEKF |
+-----+-----------+
| 4   | FifthEKF  |
+-----+-----------+
| 5   | SixthEKF  |
+-----+-----------+




.. _EK2_GSF_RST_MAX:

EK2\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK2\_GSF\_USE\_MASK parameter\.


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 1 to 10 |
+-----------+---------+





.. _parameters_EK3_:

EK3\_ Parameters
----------------


.. _EK3_ENABLE:

EK3\_ENABLE: Enable EKF3
~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This enables EKF3\. Enabling EKF3 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=3\. A reboot or restart will need to be performed after changing the value of EK3\_ENABLE for it to take effect\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _EK3_VELNE_M_NSE:

EK3\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\.


+-----------+-------------+-------------------+
| Increment | Range       | Units             |
+===========+=============+===================+
| 0.05      | 0.05 to 5.0 | meters per second |
+-----------+-------------+-------------------+




.. _EK3_VELD_M_NSE:

EK3\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\.


+-----------+-------------+-------------------+
| Increment | Range       | Units             |
+===========+=============+===================+
| 0.05      | 0.05 to 5.0 | meters per second |
+-----------+-------------+-------------------+




.. _EK3_VEL_I_GATE:

EK3\_VEL\_I\_GATE: GPS velocity innovation gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK3_POSNE_M_NSE:

EK3\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\.


+-----------+-------------+--------+
| Increment | Range       | Units  |
+===========+=============+========+
| 0.1       | 0.1 to 10.0 | meters |
+-----------+-------------+--------+




.. _EK3_POS_I_GATE:

EK3\_POS\_I\_GATE: GPS position measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK3_GLITCH_RAD:

EK3\_GLITCH\_RAD: GPS glitch radius gate size \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\.


+-----------+-----------+--------+
| Increment | Range     | Units  |
+===========+===========+========+
| 5         | 10 to 100 | meters |
+-----------+-----------+--------+




.. _EK3_ALT_M_NSE:

EK3\_ALT\_M\_NSE: Altitude measurement noise \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\.


+-----------+-------------+--------+
| Increment | Range       | Units  |
+===========+=============+========+
| 0.1       | 0.1 to 10.0 | meters |
+-----------+-------------+--------+




.. _EK3_HGT_I_GATE:

EK3\_HGT\_I\_GATE: Height measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK3_HGT_DELAY:

EK3\_HGT\_DELAY: Height measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This is the number of msec that the Height measurements lag behind the inertial measurements\.


+-----------+----------+--------------+
| Increment | Range    | Units        |
+===========+==========+==============+
| 10        | 0 to 250 | milliseconds |
+-----------+----------+--------------+




.. _EK3_MAG_M_NSE:

EK3\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+-------+
| Increment | Range       | Units |
+===========+=============+=======+
| 0.01      | 0.01 to 0.5 | gauss |
+-----------+-------------+-------+




.. _EK3_MAG_CAL:

EK3\_MAG\_CAL: Magnetometer default fusion mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK3\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK3\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK3\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK3\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK3\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. EK3\_MAG\_CAL \= 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\.


+-------+---------------------------------------------------------------------------------+
| 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) |
+-------+---------------------------------------------------------------------------------+




.. _EK3_MAG_I_GATE:

EK3\_MAG\_I\_GATE: Magnetometer measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK3_EAS_M_NSE:

EK3\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\.


+-----------+------------+-------------------+
| Increment | Range      | Units             |
+===========+============+===================+
| 0.1       | 0.5 to 5.0 | meters per second |
+-----------+------------+-------------------+




.. _EK3_EAS_I_GATE:

EK3\_EAS\_I\_GATE: Airspeed measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK3_RNG_M_NSE:

EK3\_RNG\_M\_NSE: Range finder measurement noise \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+--------+
| Increment | Range       | Units  |
+===========+=============+========+
| 0.1       | 0.1 to 10.0 | meters |
+-----------+-------------+--------+




.. _EK3_RNG_I_GATE:

EK3\_RNG\_I\_GATE: Range finder measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK3_MAX_FLOW:

EK3\_MAX\_FLOW: Maximum valid optical flow rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter


+-----------+------------+--------------------+
| Increment | Range      | Units              |
+===========+============+====================+
| 0.1       | 1.0 to 4.0 | radians per second |
+-----------+------------+--------------------+




.. _EK3_FLOW_M_NSE:

EK3\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\.


+-----------+-------------+--------------------+
| Increment | Range       | Units              |
+===========+=============+====================+
| 0.05      | 0.05 to 1.0 | radians per second |
+-----------+-------------+--------------------+




.. _EK3_FLOW_I_GATE:

EK3\_FLOW\_I\_GATE: Optical Flow measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK3_FLOW_DELAY:

EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\.


+-----------+----------+--------------+
| Increment | Range    | Units        |
+===========+==========+==============+
| 10        | 0 to 250 | milliseconds |
+-----------+----------+--------------+




.. _EK3_GYRO_P_NSE:

EK3\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+---------------+--------------------+
| Increment | Range         | Units              |
+===========+===============+====================+
| 0.0001    | 0.0001 to 0.1 | radians per second |
+-----------+---------------+--------------------+




.. _EK3_ACC_P_NSE:

EK3\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+--------------------------+
| Increment | Range       | Units                    |
+===========+=============+==========================+
| 0.01      | 0.01 to 1.0 | meters per square second |
+-----------+-------------+--------------------------+




.. _EK3_GBIAS_P_NSE:

EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This state  process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\.


+------------------+---------------------------+
| Range            | Units                     |
+==================+===========================+
| 0.00001 to 0.001 | radians per square second |
+------------------+---------------------------+




.. _EK3_ABIAS_P_NSE:

EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+------------------+-------------------------+
| Range            | Units                   |
+==================+=========================+
| 0.00001 to 0.005 | meters per cubic second |
+------------------+-------------------------+




.. _EK3_WIND_P_NSE:

EK3\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+--------------------------+
| Increment | Range       | Units                    |
+===========+=============+==========================+
| 0.1       | 0.01 to 2.0 | meters per square second |
+-----------+-------------+--------------------------+




.. _EK3_WIND_PSCALE:

EK3\_WIND\_PSCALE: Height rate to wind process noise scaler
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\.


+-----------+------------+
| Increment | Range      |
+===========+============+
| 0.1       | 0.0 to 2.0 |
+-----------+------------+




.. _EK3_GPS_CHECK:

EK3\_GPS\_CHECK: GPS preflight check
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\.


+-----+----------------+
| Bit | Meaning        |
+=====+================+
| 0   | NSats          |
+-----+----------------+
| 1   | HDoP           |
+-----+----------------+
| 2   | speed error    |
+-----+----------------+
| 3   | position error |
+-----+----------------+
| 4   | yaw error      |
+-----+----------------+
| 5   | pos drift      |
+-----+----------------+
| 6   | vert speed     |
+-----+----------------+
| 7   | horiz speed    |
+-----+----------------+




.. _EK3_IMU_MASK:

EK3\_IMU\_MASK: Bitmask of active IMUs
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

1 byte bitmap of IMUs to use in EKF3\. A separate instance of EKF3 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF3 will fail to start\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | FirstIMU  |
+-----+-----------+
| 1   | SecondIMU |
+-----+-----------+
| 2   | ThirdIMU  |
+-----+-----------+
| 3   | FourthIMU |
+-----+-----------+
| 4   | FifthIMU  |
+-----+-----------+
| 5   | SixthIMU  |
+-----+-----------+




.. _EK3_CHECK_SCALE:

EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\.


+-----------+---------+
| Range     | Units   |
+===========+=========+
| 50 to 200 | percent |
+-----------+---------+




.. _EK3_NOAID_M_NSE:

EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\.


+-------------+--------+
| Range       | Units  |
+=============+========+
| 0.5 to 50.0 | meters |
+-------------+--------+




.. _EK3_BETA_MASK:

EK3\_BETA\_MASK: Bitmask controlling sidelip angle fusion
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of \'fly forward\' vehicle types such as fixed wing planes\. By assuming that the angle of sideslip is small\, the wind velocity state estimates are corrected  whenever the EKF is not dead reckoning \(e\.g\. has an independent velocity or position sensor such as GPS\)\. This behaviour is on by default and cannot be disabled\. When the EKF is dead reckoning\, the wind states are used as a reference\, enabling use of the small angle of sideslip assumption to correct non wind velocity states \(eg attitude\, velocity\, position\, etc\) and improve navigation accuracy\. This behaviour is on by default and cannot be disabled\. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning\. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor \(e\.g\. magnetometer or dual antenna GPS yaw\) provided aerobatic flight maneuvers with large sideslip angles are not performed\. The \'always\' option might be used where the yaw sensor is intentionally not fitted or disabled\. The \'WhenNoYawSensor\' option might be used if a yaw sensor is fitted\, but protection against in\-flight failure and continual rejection by the EKF is desired\. For vehicles operated within visual range of the operator performing frequent turning maneuvers\, setting this parameter is unnecessary\.


+-----+-----------------+
| Bit | Meaning         |
+=====+=================+
| 0   | Always          |
+-----+-----------------+
| 1   | WhenNoYawSensor |
+-----+-----------------+




.. _EK3_YAW_M_NSE:

EK3\_YAW\_M\_NSE: Yaw measurement noise \(rad\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------+
| Increment | Range       | Units   |
+===========+=============+=========+
| 0.05      | 0.05 to 1.0 | radians |
+-----------+-------------+---------+




.. _EK3_YAW_I_GATE:

EK3\_YAW\_I\_GATE: Yaw measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK3_TAU_OUTPUT:

EK3\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Sets the time constant of the output complementary filter\/predictor in centi\-seconds\.


+-----------+----------+--------------+
| Increment | Range    | Units        |
+===========+==========+==============+
| 5         | 10 to 50 | centiseconds |
+-----------+----------+--------------+




.. _EK3_MAGE_P_NSE:

EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------------+------------------+
| Range           | Units            |
+=================+==================+
| 0.00001 to 0.01 | gauss per second |
+-----------------+------------------+




.. _EK3_MAGB_P_NSE:

EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------------+------------------+
| Range           | Units            |
+=================+==================+
| 0.00001 to 0.01 | gauss per second |
+-----------------+------------------+




.. _EK3_RNG_USE_HGT:

EK3\_RNG\_USE\_HGT: Range finder switch height percentage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFNDx\_MAX\_CM\) and the primary height source is Baro or GPS \(see EK3\_SRCx\_POSZ\)\.  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\.


+-----------+----------+---------+
| Increment | Range    | Units   |
+===========+==========+=========+
| 1         | -1 to 70 | percent |
+-----------+----------+---------+




.. _EK3_TERR_GRAD:

EK3\_TERR\_GRAD: Maximum terrain gradient
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference


+-----------+----------+
| Increment | Range    |
+===========+==========+
| 0.01      | 0 to 0.2 |
+-----------+----------+




.. _EK3_BCN_M_NSE:

EK3\_BCN\_M\_NSE: Range beacon measurement noise \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+--------+
| Increment | Range       | Units  |
+===========+=============+========+
| 0.1       | 0.1 to 10.0 | meters |
+-----------+-------------+--------+




.. _EK3_BCN_I_GTE:

EK3\_BCN\_I\_GTE: Range beacon measurement gate size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 25        | 100 to 1000 |
+-----------+-------------+




.. _EK3_BCN_DELAY:

EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This is the number of msec that the range beacon measurements lag behind the inertial measurements\.


+-----------+----------+--------------+
| Increment | Range    | Units        |
+===========+==========+==============+
| 10        | 0 to 250 | milliseconds |
+-----------+----------+--------------+




.. _EK3_RNG_USE_SPD:

EK3\_RNG\_USE\_SPD: Range finder max ground speed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\.


+-----------+------------+-------------------+
| Increment | Range      | Units             |
+===========+============+===================+
| 0.5       | 2.0 to 6.0 | meters per second |
+-----------+------------+-------------------+




.. _EK3_ACC_BIAS_LIM:

EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The accelerometer bias state will be limited to \+\- this value


+-----------+------------+--------------------------+
| Increment | Range      | Units                    |
+===========+============+==========================+
| 0.1       | 0.5 to 2.5 | meters per square second |
+-----------+------------+--------------------------+




.. _EK3_MAG_MASK:

EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | FirstEKF  |
+-----+-----------+
| 1   | SecondEKF |
+-----+-----------+
| 2   | ThirdEKF  |
+-----+-----------+
| 3   | FourthEKF |
+-----+-----------+
| 4   | FifthEKF  |
+-----+-----------+
| 5   | SixthEKF  |
+-----+-----------+




.. _EK3_OGN_HGT_MASK:

EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\.


+-----+----------------------------------------+
| Bit | Meaning                                |
+=====+========================================+
| 0   | Correct when using Baro height         |
+-----+----------------------------------------+
| 1   | Correct when using range finder height |
+-----+----------------------------------------+
| 2   | Apply corrections to local position    |
+-----+----------------------------------------+




.. _EK3_VIS_VERR_MIN:

EK3\_VIS\_VERR\_MIN: Visual odometry minimum velocity error
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1\-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\.


+-----------+-------------+-------------------+
| Increment | Range       | Units             |
+===========+=============+===================+
| 0.05      | 0.05 to 0.5 | meters per second |
+-----------+-------------+-------------------+




.. _EK3_VIS_VERR_MAX:

EK3\_VIS\_VERR\_MAX: Visual odometry maximum velocity error
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1\-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\.


+-----------+------------+-------------------+
| Increment | Range      | Units             |
+===========+============+===================+
| 0.1       | 0.5 to 5.0 | meters per second |
+-----------+------------+-------------------+




.. _EK3_WENC_VERR:

EK3\_WENC\_VERR: Wheel odometry velocity error
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1\-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused\.


+-----------+-------------+-------------------+
| Increment | Range       | Units             |
+===========+=============+===================+
| 0.1       | 0.01 to 1.0 | meters per second |
+-----------+-------------+-------------------+




.. _EK3_FLOW_USE:

EK3\_FLOW\_USE: Optical flow use bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\.


+-------+------------+
| Value | Meaning    |
+=======+============+
| 0     | None       |
+-------+------------+
| 1     | Navigation |
+-------+------------+
| 2     | Terrain    |
+-------+------------+




.. _EK3_HRT_FILT:

EK3\_HRT\_FILT: Height rate filter crossover frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\.


+-------------+-------+
| Range       | Units |
+=============+=======+
| 0.1 to 30.0 | hertz |
+-------------+-------+




.. _EK3_MAG_EF_LIM:

EK3\_MAG\_EF\_LIM: EarthField error limit
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\.


+----------+------------+
| Range    | Units      |
+==========+============+
| 0 to 500 | milligauss |
+----------+------------+




.. _EK3_GSF_RUN_MASK:

EK3\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

1 byte bitmap of which EKF3 instances run an 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\_MASK and EK3\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK3\_GSF\_USE to 0\. 


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | FirstEKF  |
+-----+-----------+
| 1   | SecondEKF |
+-----+-----------+
| 2   | ThirdEKF  |
+-----+-----------+
| 3   | FourthEKF |
+-----+-----------+
| 4   | FifthEKF  |
+-----+-----------+
| 5   | SixthEKF  |
+-----+-----------+




.. _EK3_GSF_USE_MASK:

EK3\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

A bitmask of which EKF3 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK3\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF3 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance\.


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | FirstEKF  |
+-----+-----------+
| 1   | SecondEKF |
+-----+-----------+
| 2   | ThirdEKF  |
+-----+-----------+
| 3   | FourthEKF |
+-----+-----------+
| 4   | FifthEKF  |
+-----+-----------+
| 5   | SixthEKF  |
+-----+-----------+




.. _EK3_GSF_RST_MAX:

EK3\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK3\_GSF\_USE\_MASK parameter\.


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 1 to 10 |
+-----------+---------+




.. _EK3_ERR_THRESH:

EK3\_ERR\_THRESH: EKF3 Lane Relative Error Sensitivity Threshold
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError\, lowering this makes lane switching more sensitive to smaller error differences


+-----------+-----------+
| Increment | Range     |
+===========+===========+
| 0.05      | 0.05 to 1 |
+-----------+-----------+




.. _EK3_AFFINITY:

EK3\_AFFINITY: EKF3 Sensor Affinity Options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

These options control the affinity between sensor instances and EKF cores


+-----+------------------------+
| Bit | Meaning                |
+=====+========================+
| 0   | EnableGPSAffinity      |
+-----+------------------------+
| 1   | EnableBaroAffinity     |
+-----+------------------------+
| 2   | EnableCompassAffinity  |
+-----+------------------------+
| 3   | EnableAirspeedAffinity |
+-----+------------------------+




.. _EK3_DRAG_BCOEF_X:

EK3\_DRAG\_BCOEF\_X: Ballistic coefficient for X axis drag
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Ratio of mass to drag coefficient measured along the X body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\.  Set to a 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\_DRAG\_MCOEF parameter\.


+---------------+----------------------------+
| Range         | Units                      |
+===============+============================+
| 0.0 to 1000.0 | kilograms per square meter |
+---------------+----------------------------+




.. _EK3_DRAG_BCOEF_Y:

EK3\_DRAG\_BCOEF\_Y: Ballistic coefficient for Y axis drag
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Ratio of mass to drag coefficient measured along the Y body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\.  Set to a 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\_DRAG\_MCOEF parameter\.


+----------------+----------------------------+
| Range          | Units                      |
+================+============================+
| 50.0 to 1000.0 | kilograms per square meter |
+----------------+----------------------------+




.. _EK3_DRAG_M_NSE:

EK3\_DRAG\_M\_NSE: Observation noise for drag acceleration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi\-rotor vehicles\. This feature is enabled by the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters


+-----------+------------+--------------------------+
| Increment | Range      | Units                    |
+===========+============+==========================+
| 0.1       | 0.1 to 2.0 | meters per square second |
+-----------+------------+--------------------------+




.. _EK3_DRAG_MCOEF:

EK3\_DRAG\_MCOEF: Momentum coefficient for propeller drag
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter is used to predict the drag produced by the rotors when flying a multi\-copter\, enabling estimation of wind drift\. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag\. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers\. It is higher for ducted rotors\. For example if flying at 15 m\/s at sea level conditions produces a rotor induced drag acceleration of 1\.5 m\/s\/s\, then EK3\_DRAG\_MCOEF would be set to 0\.1 \= \(1\.5\/15\.0\)\. Set EK3\_MCOEF to a 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\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters\.


+-----------+------------+------------+
| Increment | Range      | Units      |
+===========+============+============+
| 0.01      | 0.0 to 1.0 | per second |
+-----------+------------+------------+




.. _EK3_OGNM_TEST_SF:

EK3\_OGNM\_TEST\_SF: On ground not moving test scale factor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor\. Bigger values allow the detection of a not moving condition with noiser IMU data\. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM\_TEST\_SF to be slightly higher than the maximum value of the XKFM\.ADR\, XKFM\.ALR\, XKFM\.GDR and XKFM\.GLR test levels\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.5       | 1.0 to 10.0 |
+-----------+-------------+




.. _EK3_GND_EFF_DZ:

EK3\_GND\_EFF\_DZ: Baro height ground effect dead zone
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect\. Set to about 0\.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up\. Set to 0 if no ground effect is present\.


+-----------+-------------+
| Increment | Range       |
+===========+=============+
| 0.5       | 0.0 to 10.0 |
+-----------+-------------+




.. _EK3_PRIMARY:

EK3\_PRIMARY: Primary core number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\.


+-----------+--------+
| Increment | Range  |
+===========+========+
| 1         | 0 to 2 |
+-----------+--------+




.. _EK3_LOG_LEVEL:

EK3\_LOG\_LEVEL: Logging Level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Determines how verbose the EKF3 streaming logging is\. A value of 0 provides full logging\(default\)\, a value of 1 only XKF4 scaled innovations are logged\, a value of 2 both XKF4 and GSF are logged\, and a value of 3 disables all streaming logging of EKF3\.


+-----------+--------+
| Increment | Range  |
+===========+========+
| 1         | 0 to 3 |
+-----------+--------+




.. _EK3_GPS_VACC_MAX:

EK3\_GPS\_VACC\_MAX: GPS vertical accuracy threshold
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Vertical accuracy threshold for GPS as the altitude source\. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold\, falling back to baro instead\. Set to zero to deactivate the threshold check\.


+-----------+-------------+--------+
| Increment | Range       | Units  |
+===========+=============+========+
| 0.1       | 0.0 to 10.0 | meters |
+-----------+-------------+--------+





.. _parameters_EK3_SRC:

EK3\_SRC Parameters
-------------------


.. _EK3_SRC1_POSXY:

EK3\_SRC1\_POSXY: Position Horizontal Source \(Primary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position Horizontal Source \(Primary\)


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 3     | GPS         |
+-------+-------------+
| 4     | Beacon      |
+-------+-------------+
| 6     | ExternalNav |
+-------+-------------+




.. _EK3_SRC1_VELXY:

EK3\_SRC1\_VELXY: Velocity Horizontal Source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity Horizontal Source


+-------+--------------+
| Value | Meaning      |
+=======+==============+
| 0     | None         |
+-------+--------------+
| 3     | GPS          |
+-------+--------------+
| 4     | Beacon       |
+-------+--------------+
| 5     | OpticalFlow  |
+-------+--------------+
| 6     | ExternalNav  |
+-------+--------------+
| 7     | WheelEncoder |
+-------+--------------+




.. _EK3_SRC1_POSZ:

EK3\_SRC1\_POSZ: Position Vertical Source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position Vertical Source


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 1     | Baro        |
+-------+-------------+
| 2     | RangeFinder |
+-------+-------------+
| 3     | GPS         |
+-------+-------------+
| 4     | Beacon      |
+-------+-------------+
| 6     | ExternalNav |
+-------+-------------+




.. _EK3_SRC1_VELZ:

EK3\_SRC1\_VELZ: Velocity Vertical Source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity Vertical Source


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 3     | GPS         |
+-------+-------------+
| 4     | Beacon      |
+-------+-------------+
| 6     | ExternalNav |
+-------+-------------+




.. _EK3_SRC1_YAW:

EK3\_SRC1\_YAW: Yaw Source
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Yaw Source


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| 0     | None                      |
+-------+---------------------------+
| 1     | Compass                   |
+-------+---------------------------+
| 2     | GPS                       |
+-------+---------------------------+
| 3     | GPS with Compass Fallback |
+-------+---------------------------+
| 6     | ExternalNav               |
+-------+---------------------------+
| 8     | GSF                       |
+-------+---------------------------+




.. _EK3_SRC2_POSXY:

EK3\_SRC2\_POSXY: Position Horizontal Source \(Secondary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position Horizontal Source \(Secondary\)


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 3     | GPS         |
+-------+-------------+
| 4     | Beacon      |
+-------+-------------+
| 6     | ExternalNav |
+-------+-------------+




.. _EK3_SRC2_VELXY:

EK3\_SRC2\_VELXY: Velocity Horizontal Source \(Secondary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity Horizontal Source \(Secondary\)


+-------+--------------+
| Value | Meaning      |
+=======+==============+
| 0     | None         |
+-------+--------------+
| 3     | GPS          |
+-------+--------------+
| 4     | Beacon       |
+-------+--------------+
| 5     | OpticalFlow  |
+-------+--------------+
| 6     | ExternalNav  |
+-------+--------------+
| 7     | WheelEncoder |
+-------+--------------+




.. _EK3_SRC2_POSZ:

EK3\_SRC2\_POSZ: Position Vertical Source \(Secondary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position Vertical Source \(Secondary\)


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 1     | Baro        |
+-------+-------------+
| 2     | RangeFinder |
+-------+-------------+
| 3     | GPS         |
+-------+-------------+
| 4     | Beacon      |
+-------+-------------+
| 6     | ExternalNav |
+-------+-------------+




.. _EK3_SRC2_VELZ:

EK3\_SRC2\_VELZ: Velocity Vertical Source \(Secondary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity Vertical Source \(Secondary\)


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 3     | GPS         |
+-------+-------------+
| 4     | Beacon      |
+-------+-------------+
| 6     | ExternalNav |
+-------+-------------+




.. _EK3_SRC2_YAW:

EK3\_SRC2\_YAW: Yaw Source \(Secondary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Yaw Source \(Secondary\)


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| 0     | None                      |
+-------+---------------------------+
| 1     | Compass                   |
+-------+---------------------------+
| 2     | GPS                       |
+-------+---------------------------+
| 3     | GPS with Compass Fallback |
+-------+---------------------------+
| 6     | ExternalNav               |
+-------+---------------------------+
| 8     | GSF                       |
+-------+---------------------------+




.. _EK3_SRC3_POSXY:

EK3\_SRC3\_POSXY: Position Horizontal Source \(Tertiary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position Horizontal Source \(Tertiary\)


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 3     | GPS         |
+-------+-------------+
| 4     | Beacon      |
+-------+-------------+
| 6     | ExternalNav |
+-------+-------------+




.. _EK3_SRC3_VELXY:

EK3\_SRC3\_VELXY: Velocity Horizontal Source \(Tertiary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity Horizontal Source \(Tertiary\)


+-------+--------------+
| Value | Meaning      |
+=======+==============+
| 0     | None         |
+-------+--------------+
| 3     | GPS          |
+-------+--------------+
| 4     | Beacon       |
+-------+--------------+
| 5     | OpticalFlow  |
+-------+--------------+
| 6     | ExternalNav  |
+-------+--------------+
| 7     | WheelEncoder |
+-------+--------------+




.. _EK3_SRC3_POSZ:

EK3\_SRC3\_POSZ: Position Vertical Source \(Tertiary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Position Vertical Source \(Tertiary\)


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 1     | Baro        |
+-------+-------------+
| 2     | RangeFinder |
+-------+-------------+
| 3     | GPS         |
+-------+-------------+
| 4     | Beacon      |
+-------+-------------+
| 6     | ExternalNav |
+-------+-------------+




.. _EK3_SRC3_VELZ:

EK3\_SRC3\_VELZ: Velocity Vertical Source \(Tertiary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Velocity Vertical Source \(Tertiary\)


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 3     | GPS         |
+-------+-------------+
| 4     | Beacon      |
+-------+-------------+
| 6     | ExternalNav |
+-------+-------------+




.. _EK3_SRC3_YAW:

EK3\_SRC3\_YAW: Yaw Source \(Tertiary\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Yaw Source \(Tertiary\)


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| 0     | None                      |
+-------+---------------------------+
| 1     | Compass                   |
+-------+---------------------------+
| 2     | GPS                       |
+-------+---------------------------+
| 3     | GPS with Compass Fallback |
+-------+---------------------------+
| 6     | ExternalNav               |
+-------+---------------------------+
| 8     | GSF                       |
+-------+---------------------------+




.. _EK3_SRC_OPTIONS:

EK3\_SRC\_OPTIONS: EKF Source Options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

EKF Source Options


+-----+-------------------+
| Bit | Meaning           |
+=====+===================+
| 0   | FuseAllVelocities |
+-----+-------------------+





.. _parameters_ESC_TLM:

ESC\_TLM Parameters
-------------------


.. _ESC_TLM_MAV_OFS:

ESC\_TLM\_MAV\_OFS: ESC Telemetry mavlink offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Offset to apply to ESC numbers when reporting as ESC\_TELEMETRY packets over MAVLink\. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays\. A value of 4 would send ESC on output 5 as ESC number 1 in ESC\_TELEMETRY packets


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 0 to 31 |
+-----------+---------+





.. _parameters_FENCE_:

FENCE\_ Parameters
------------------


.. _FENCE_ENABLE:

FENCE\_ENABLE: Fence enable\/disable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Allows you to enable \(1\) or disable \(0\) the fence functionality


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _FENCE_ACTION:

FENCE\_ACTION: Fence Action
~~~~~~~~~~~~~~~~~~~~~~~~~~~


What action should be taken when fence is breached


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | Report Only |
+-------+-------------+
| 1     | RTL or Land |
+-------+-------------+




.. _FENCE_RADIUS:

FENCE\_RADIUS: Circular Fence Radius
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Circle fence radius which when breached will cause an RTL


+-------------+--------+
| Range       | Units  |
+=============+========+
| 30 to 10000 | meters |
+-------------+--------+




.. _FENCE_MARGIN:

FENCE\_MARGIN: Fence Margin
~~~~~~~~~~~~~~~~~~~~~~~~~~~


Distance that autopilot\'s should maintain from the fence to avoid a breach


+---------+--------+
| Range   | Units  |
+=========+========+
| 1 to 10 | meters |
+---------+--------+




.. _FENCE_TOTAL:

FENCE\_TOTAL: Fence polygon point total
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of polygon points saved in eeprom \(do not update manually\)


+---------+
| Range   |
+=========+
| 1 to 20 |
+---------+





.. _parameters_FFT_:

FFT\_ Parameters
----------------


.. _FFT_ENABLE:

FFT\_ENABLE: Enable
~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enable Gyro FFT analyser


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _FFT_MINHZ:

FFT\_MINHZ: Minimum Frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Lower bound of FFT frequency detection in Hz\. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles\.


+-----------+-------+
| Range     | Units |
+===========+=======+
| 20 to 400 | hertz |
+-----------+-------+




.. _FFT_MAXHZ:

FFT\_MAXHZ: Maximum Frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Upper bound of FFT frequency detection in Hz\. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles\.


+-----------+-------+
| Range     | Units |
+===========+=======+
| 20 to 495 | hertz |
+-----------+-------+




.. _FFT_SAMPLE_MODE:

FFT\_SAMPLE\_MODE: Sample Mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Sampling mode \(and therefore rate\)\. 0\: Gyro rate sampling\, 1\: Fast loop rate sampling\, 2\: Fast loop rate \/ 2 sampling\, 3\: Fast loop rate \/ 3 sampling\. Takes effect on reboot\.


+--------+
| Range  |
+========+
| 0 to 4 |
+--------+




.. _FFT_WINDOW_SIZE:

FFT\_WINDOW\_SIZE: FFT window size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Size of window to be used in FFT calculations\. Takes effect on reboot\. Must be a power of 2 and between 32 and 512\. Larger windows give greater frequency resolution but poorer time resolution\, consume more CPU time and may not be appropriate for all vehicles\. Time and frequency resolution are given by the sample\-rate \/ window\-size\. Windows of 256 are only really recommended for F7 class boards\, windows of 512 or more H7 class\.


+------------+
| Range      |
+============+
| 32 to 1024 |
+------------+




.. _FFT_WINDOW_OLAP:

FFT\_WINDOW\_OLAP: FFT window overlap
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Percentage of window to be overlapped before another frame is process\. Takes effect on reboot\. A good default is 50\% overlap\. Higher overlap results in more processed frames but not necessarily more temporal resolution\. Lower overlap results in lost information at the frame edges\.


+----------+
| Range    |
+==========+
| 0 to 0.9 |
+----------+




.. _FFT_FREQ_HOVER:

FFT\_FREQ\_HOVER: FFT learned hover frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The learned hover noise frequency


+----------+
| Range    |
+==========+
| 0 to 250 |
+----------+




.. _FFT_THR_REF:

FFT\_THR\_REF: FFT learned thrust reference
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

FFT learned thrust reference for the hover frequency and FFT minimum frequency\.


+-------------+
| Range       |
+=============+
| 0.01 to 0.9 |
+-------------+




.. _FFT_SNR_REF:

FFT\_SNR\_REF: FFT SNR reference threshold
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

FFT SNR reference threshold in dB at which a signal is determined to be present\.


+--------------+
| Range        |
+==============+
| 0.0 to 100.0 |
+--------------+




.. _FFT_ATT_REF:

FFT\_ATT\_REF: FFT attenuation for bandwidth calculation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

FFT attenuation level in dB for bandwidth calculation and peak detection\. The bandwidth is calculated by comparing peak power output with the attenuated version\. The default of 15 has shown to be a good compromise in both simulations and real flight\.


+----------+
| Range    |
+==========+
| 0 to 100 |
+----------+




.. _FFT_BW_HOVER:

FFT\_BW\_HOVER: FFT learned bandwidth at hover
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

FFT learned bandwidth at hover for the attenuation frequencies\.


+----------+
| Range    |
+==========+
| 0 to 200 |
+----------+




.. _FFT_HMNC_FIT:

FFT\_HMNC\_FIT: FFT harmonic fit frequency threshold
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another\. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency\. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch\. A value of zero completely disables harmonic matching\.


+----------+
| Range    |
+==========+
| 0 to 100 |
+----------+




.. _FFT_HMNC_PEAK:

FFT\_HMNC\_PEAK: FFT harmonic peak target
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The FFT harmonic peak target that should be returned by FTN1\.PkAvg\. The resulting value will be used by the harmonic notch if configured to track the FFT frequency\. By default the appropriate peak is auto\-detected based on the harmonic fit between peaks and the energy\-weighted average frequency on roll on pitch is used\. Setting this to 1 will always target the highest energy peak\. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak\. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak\. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used \(some vehicles have a much more pronounced peak on roll\)\.


+-------+--------------------------+
| Value | Meaning                  |
+=======+==========================+
| 0     | Auto                     |
+-------+--------------------------+
| 1     | Center Frequency         |
+-------+--------------------------+
| 2     | Lower-Shoulder Frequency |
+-------+--------------------------+
| 3     | Upper-Shoulder Frequency |
+-------+--------------------------+
| 4     | Roll-Axis                |
+-------+--------------------------+
| 5     | Pitch-Axis               |
+-------+--------------------------+




.. _FFT_NUM_FRAMES:

FFT\_NUM\_FRAMES: FFT output frames to retain and average
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Number of output frequency frames to retain and average in order to calculate final frequencies\. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable\. The default is to perform no averaging\. For rapidly changing frequencies \(e\.g\. smaller aircraft\) fewer frames should be averaged\.


+--------+
| Range  |
+========+
| 0 to 8 |
+--------+





.. _parameters_FINS_:

FINS\_ Parameters
-----------------


.. _FINS_FREQ_HZ:

FINS\_FREQ\_HZ: Fins frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This is the oscillation frequency of the fins


+---------+
| Range   |
+=========+
| 1 to 10 |
+---------+




.. _FINS_TURBO_MODE:

FINS\_TURBO\_MODE: Enable turbo mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Enables double speed on high offset\.


+--------+
| Range  |
+========+
| 0 to 1 |
+--------+





.. _parameters_FRSKY_:

FRSKY\_ Parameters
------------------


.. _FRSKY_UPLINK_ID:

FRSKY\_UPLINK\_ID: Uplink sensor id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Change the uplink sensor id \(SPort only\)


+-------+---------+
| Value | Meaning |
+=======+=========+
| -1    | Disable |
+-------+---------+
| 7     | 7       |
+-------+---------+
| 8     | 8       |
+-------+---------+
| 9     | 9       |
+-------+---------+
| 10    | 10      |
+-------+---------+
| 11    | 11      |
+-------+---------+
| 12    | 12      |
+-------+---------+
| 13    | 13      |
+-------+---------+
| 14    | 14      |
+-------+---------+
| 15    | 15      |
+-------+---------+
| 16    | 16      |
+-------+---------+
| 17    | 17      |
+-------+---------+
| 18    | 18      |
+-------+---------+
| 19    | 19      |
+-------+---------+
| 20    | 20      |
+-------+---------+
| 21    | 21      |
+-------+---------+
| 22    | 22      |
+-------+---------+
| 23    | 23      |
+-------+---------+
| 24    | 24      |
+-------+---------+
| 25    | 25      |
+-------+---------+
| 26    | 26      |
+-------+---------+




.. _FRSKY_DNLINK1_ID:

FRSKY\_DNLINK1\_ID: First downlink sensor id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Change the first extra downlink sensor id \(SPort only\)


+-------+---------+
| Value | Meaning |
+=======+=========+
| -1    | Disable |
+-------+---------+
| 7     | 7       |
+-------+---------+
| 8     | 8       |
+-------+---------+
| 9     | 9       |
+-------+---------+
| 10    | 10      |
+-------+---------+
| 11    | 11      |
+-------+---------+
| 12    | 12      |
+-------+---------+
| 13    | 13      |
+-------+---------+
| 14    | 14      |
+-------+---------+
| 15    | 15      |
+-------+---------+
| 16    | 16      |
+-------+---------+
| 17    | 17      |
+-------+---------+
| 18    | 18      |
+-------+---------+
| 19    | 19      |
+-------+---------+
| 20    | 20      |
+-------+---------+
| 21    | 21      |
+-------+---------+
| 22    | 22      |
+-------+---------+
| 23    | 23      |
+-------+---------+
| 24    | 24      |
+-------+---------+
| 25    | 25      |
+-------+---------+
| 26    | 26      |
+-------+---------+




.. _FRSKY_DNLINK2_ID:

FRSKY\_DNLINK2\_ID: Second downlink sensor id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Change the second extra downlink sensor id \(SPort only\)


+-------+---------+
| Value | Meaning |
+=======+=========+
| -1    | Disable |
+-------+---------+
| 7     | 7       |
+-------+---------+
| 8     | 8       |
+-------+---------+
| 9     | 9       |
+-------+---------+
| 10    | 10      |
+-------+---------+
| 11    | 11      |
+-------+---------+
| 12    | 12      |
+-------+---------+
| 13    | 13      |
+-------+---------+
| 14    | 14      |
+-------+---------+
| 15    | 15      |
+-------+---------+
| 16    | 16      |
+-------+---------+
| 17    | 17      |
+-------+---------+
| 18    | 18      |
+-------+---------+
| 19    | 19      |
+-------+---------+
| 20    | 20      |
+-------+---------+
| 21    | 21      |
+-------+---------+
| 22    | 22      |
+-------+---------+
| 23    | 23      |
+-------+---------+
| 24    | 24      |
+-------+---------+
| 25    | 25      |
+-------+---------+
| 26    | 26      |
+-------+---------+




.. _FRSKY_DNLINK_ID:

FRSKY\_DNLINK\_ID: Default downlink sensor id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Change the default downlink sensor id \(SPort only\)


+-------+---------+
| Value | Meaning |
+=======+=========+
| -1    | Disable |
+-------+---------+
| 7     | 7       |
+-------+---------+
| 8     | 8       |
+-------+---------+
| 9     | 9       |
+-------+---------+
| 10    | 10      |
+-------+---------+
| 11    | 11      |
+-------+---------+
| 12    | 12      |
+-------+---------+
| 13    | 13      |
+-------+---------+
| 14    | 14      |
+-------+---------+
| 15    | 15      |
+-------+---------+
| 16    | 16      |
+-------+---------+
| 17    | 17      |
+-------+---------+
| 18    | 18      |
+-------+---------+
| 19    | 19      |
+-------+---------+
| 20    | 20      |
+-------+---------+
| 21    | 21      |
+-------+---------+
| 22    | 22      |
+-------+---------+
| 23    | 23      |
+-------+---------+
| 24    | 24      |
+-------+---------+
| 25    | 25      |
+-------+---------+
| 26    | 26      |
+-------+---------+
| 27    | 27      |
+-------+---------+




.. _FRSKY_OPTIONS:

FRSKY\_OPTIONS: FRSky Telemetry Options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


A bitmask to set some FRSky Telemetry specific options


+-----+------------------------------+
| Bit | Meaning                      |
+=====+==============================+
| 0   | EnableAirspeedAndGroundspeed |
+-----+------------------------------+





.. _parameters_GEN_:

GEN\_ Parameters
----------------


.. _GEN_TYPE:

GEN\_TYPE: Generator type
~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Generator type


+-------+------------------------+
| Value | Meaning                |
+=======+========================+
| 0     | Disabled               |
+-------+------------------------+
| 1     | IE 650w 800w Fuel Cell |
+-------+------------------------+
| 2     | IE 2.4kW Fuel Cell     |
+-------+------------------------+
| 3     | Richenpower            |
+-------+------------------------+




.. _GEN_OPTIONS:

GEN\_OPTIONS: Generator Options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Bitmask of options for generators


+-----+---------------------------------------+
| Bit | Meaning                               |
+=====+=======================================+
| 0   | Supress Maintenance-Required Warnings |
+-----+---------------------------------------+





.. _parameters_GPS:

GPS Parameters
--------------


.. _GPS_TYPE:

GPS\_TYPE: 1st GPS type
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

GPS type of 1st GPS


+-------+-------------------------------+
| Value | Meaning                       |
+=======+===============================+
| 0     | None                          |
+-------+-------------------------------+
| 1     | AUTO                          |
+-------+-------------------------------+
| 2     | uBlox                         |
+-------+-------------------------------+
| 5     | NMEA                          |
+-------+-------------------------------+
| 6     | SiRF                          |
+-------+-------------------------------+
| 7     | HIL                           |
+-------+-------------------------------+
| 8     | SwiftNav                      |
+-------+-------------------------------+
| 9     | DroneCAN                      |
+-------+-------------------------------+
| 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                  |
+-------+-------------------------------+
| 22    | DroneCAN-MovingBaseline-Base  |
+-------+-------------------------------+
| 23    | DroneCAN-MovingBaseline-Rover |
+-------+-------------------------------+




.. _GPS_TYPE2:

GPS\_TYPE2: 2nd GPS type
~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

GPS type of 2nd GPS


+-------+-------------------------------+
| Value | Meaning                       |
+=======+===============================+
| 0     | None                          |
+-------+-------------------------------+
| 1     | AUTO                          |
+-------+-------------------------------+
| 2     | uBlox                         |
+-------+-------------------------------+
| 5     | NMEA                          |
+-------+-------------------------------+
| 6     | SiRF                          |
+-------+-------------------------------+
| 7     | HIL                           |
+-------+-------------------------------+
| 8     | SwiftNav                      |
+-------+-------------------------------+
| 9     | DroneCAN                      |
+-------+-------------------------------+
| 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                  |
+-------+-------------------------------+
| 22    | DroneCAN-MovingBaseline-Base  |
+-------+-------------------------------+
| 23    | DroneCAN-MovingBaseline-Rover |
+-------+-------------------------------+




.. _GPS_NAVFILTER:

GPS\_NAVFILTER: Navigation filter setting
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Navigation filter engine setting


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




.. _GPS_AUTO_SWITCH:

GPS\_AUTO\_SWITCH: Automatic Switchover Setting
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Automatic switchover to GPS reporting best lock\, 1\:UseBest selects the GPS with highest status\, if both are equal the GPS with highest satellite count is used 4\:Use primary if 3D fix or better\, will revert to \'UseBest\' behaviour if 3D fix is lost on primary


+-------+---------------------------------+
| Value | Meaning                         |
+=======+=================================+
| 0     | Use primary                     |
+-------+---------------------------------+
| 1     | UseBest                         |
+-------+---------------------------------+
| 2     | Blend                           |
+-------+---------------------------------+
| 4     | Use primary if 3D fix or better |
+-------+---------------------------------+




.. _GPS_MIN_DGPS:

GPS\_MIN\_DGPS: Minimum Lock Type Accepted for DGPS
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

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


+-------+------------+
| Value | Meaning    |
+=======+============+
| 0     | Any        |
+-------+------------+
| 50    | FloatRTK   |
+-------+------------+
| 100   | IntegerRTK |
+-------+------------+




.. _GPS_SBAS_MODE:

GPS\_SBAS\_MODE: SBAS Mode
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the SBAS \(satellite based augmentation system\) mode if available on this GPS\. If set to 2 then the SBAS mode is not changed in the GPS\. Otherwise the GPS will be reconfigured to enable\/disable SBAS\. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+
| 2     | NoChange |
+-------+----------+




.. _GPS_MIN_ELEV:

GPS\_MIN\_ELEV: Minimum elevation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the minimum elevation of satellites above the horizon for them to be used for navigation\. Setting this to \-100 leaves the minimum elevation set to the GPS modules default\.


+------------+---------+
| Range      | Units   |
+============+=========+
| -100 to 90 | degrees |
+------------+---------+




.. _GPS_INJECT_TO:

GPS\_INJECT\_TO: Destination for GPS\_INJECT\_DATA MAVLink packets
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The GGS can send raw serial packets to inject data to multiple GPSes\.


+-------+-------------------+
| Value | Meaning           |
+=======+===================+
| 0     | send to first GPS |
+-------+-------------------+
| 1     | send to 2nd GPS   |
+-------+-------------------+
| 127   | send to all       |
+-------+-------------------+




.. _GPS_SBP_LOGMASK:

GPS\_SBP\_LOGMASK: Swift Binary Protocol Logging Mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Masked with the SBP msg\_type field to determine whether SBR1\/SBR2 data is logged


+-------+------------------------+
| Value | Meaning                |
+=======+========================+
| 0     | None (0x0000)          |
+-------+------------------------+
| -1    | All (0xFFFF)           |
+-------+------------------------+
| -256  | External only (0xFF00) |
+-------+------------------------+




.. _GPS_RAW_DATA:

GPS\_RAW\_DATA: Raw data logging
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Handles logging raw data\; on uBlox chips that support raw data this will log RXM messages into logger\; on Septentrio this will log on the equipment\'s SD card and when set to 2\, the autopilot will try to stop logging after disarming and restart after arming


+-------+------------------------------------------+
| Value | Meaning                                  |
+=======+==========================================+
| 0     | Ignore                                   |
+-------+------------------------------------------+
| 1     | Always log                               |
+-------+------------------------------------------+
| 2     | Stop logging when disarmed (SBF only)    |
+-------+------------------------------------------+
| 5     | Only log every five samples (uBlox only) |
+-------+------------------------------------------+




.. _GPS_GNSS_MODE:

GPS\_GNSS\_MODE: GNSS system configuration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\)


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | GPS     |
+-----+---------+
| 1   | SBAS    |
+-----+---------+
| 2   | Galileo |
+-----+---------+
| 3   | Beidou  |
+-----+---------+
| 4   | IMES    |
+-----+---------+
| 5   | QZSS    |
+-----+---------+
| 6   | GLONASS |
+-----+---------+




.. _GPS_SAVE_CFG:

GPS\_SAVE\_CFG: Save GPS configuration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Determines whether the configuration for this GPS should be written to non\-volatile memory on the GPS\. Currently working for UBlox 6 series and above\.


+-------+-----------------------+
| Value | Meaning               |
+=======+=======================+
| 0     | Do not save config    |
+-------+-----------------------+
| 1     | Save config           |
+-------+-----------------------+
| 2     | Save only when needed |
+-------+-----------------------+




.. _GPS_GNSS_MODE2:

GPS\_GNSS\_MODE2: GNSS system configuration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask for what GNSS system to use on the second GPS \(all unchecked or zero to leave GPS as configured\)


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | GPS     |
+-----+---------+
| 1   | SBAS    |
+-----+---------+
| 2   | Galileo |
+-----+---------+
| 3   | Beidou  |
+-----+---------+
| 4   | IMES    |
+-----+---------+
| 5   | QZSS    |
+-----+---------+
| 6   | GLONASS |
+-----+---------+




.. _GPS_AUTO_CONFIG:

GPS\_AUTO\_CONFIG: Automatic GPS configuration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings


+-------+------------------------------------------------------+
| Value | Meaning                                              |
+=======+======================================================+
| 0     | Disables automatic configuration                     |
+-------+------------------------------------------------------+
| 1     | Enable automatic configuration for Serial GPSes only |
+-------+------------------------------------------------------+
| 2     | Enable automatic configuration for DroneCAN as well  |
+-------+------------------------------------------------------+




.. _GPS_RATE_MS:

GPS\_RATE\_MS: GPS update rate in milliseconds
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 100   | 10Hz    |
+-------+---------+
| 125   | 8Hz     |
+-------+---------+
| 200   | 5Hz     |
+-------+---------+




+-----------+--------------+
| Range     | Units        |
+===========+==============+
| 50 to 200 | milliseconds |
+-----------+--------------+




.. _GPS_RATE_MS2:

GPS\_RATE\_MS2: GPS 2 update rate in milliseconds
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 100   | 10Hz    |
+-------+---------+
| 125   | 8Hz     |
+-------+---------+
| 200   | 5Hz     |
+-------+---------+




+-----------+--------------+
| Range     | Units        |
+===========+==============+
| 50 to 200 | milliseconds |
+-----------+--------------+




.. _GPS_POS1_X:

GPS\_POS1\_X: Antenna X position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_POS1_Y:

GPS\_POS1\_Y: Antenna Y position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_POS1_Z:

GPS\_POS1\_Z: Antenna Z position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_POS2_X:

GPS\_POS2\_X: Antenna X position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_POS2_Y:

GPS\_POS2\_Y: Antenna Y position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_POS2_Z:

GPS\_POS2\_Z: Antenna Z position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_DELAY_MS:

GPS\_DELAY\_MS: GPS delay in milliseconds
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Controls the amount of GPS  measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\.


+----------+--------------+
| Range    | Units        |
+==========+==============+
| 0 to 250 | milliseconds |
+----------+--------------+




.. _GPS_DELAY_MS2:

GPS\_DELAY\_MS2: GPS 2 delay in milliseconds
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Controls the amount of GPS  measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\.


+----------+--------------+
| Range    | Units        |
+==========+==============+
| 0 to 250 | milliseconds |
+----------+--------------+




.. _GPS_BLEND_MASK:

GPS\_BLEND\_MASK: Multi GPS Blending Mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Determines which of the accuracy measures Horizontal position\, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS\_AUTO\_SWITCH to 2\(Blend\)


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | Horiz Pos |
+-----+-----------+
| 1   | Vert Pos  |
+-----+-----------+
| 2   | Speed     |
+-----+-----------+




.. _GPS_BLEND_TC:

GPS\_BLEND\_TC: Blending time constant
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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       | Units   |
+=============+=========+
| 5.0 to 30.0 | seconds |
+-------------+---------+




.. _GPS_DRV_OPTIONS:

GPS\_DRV\_OPTIONS: driver options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Additional backend specific options


+-----+-------------------------------------------------------+
| Bit | Meaning                                               |
+=====+=======================================================+
| 0   | Use UART2 for moving baseline on ublox                |
+-----+-------------------------------------------------------+
| 1   | Use base station for GPS yaw on SBF                   |
+-----+-------------------------------------------------------+
| 2   | Use baudrate 115200                                   |
+-----+-------------------------------------------------------+
| 3   | Use dedicated CAN port b/w GPSes for moving baseline  |
+-----+-------------------------------------------------------+
| 4   | Use ellipsoid height instead of AMSL for uBlox driver |
+-----+-------------------------------------------------------+




.. _GPS_COM_PORT:

GPS\_COM\_PORT: GPS physical COM port
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

The physical COM port on the connected device\, currently only applies to SBF GPS


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 0 to 10 |
+-----------+---------+




.. _GPS_COM_PORT2:

GPS\_COM\_PORT2: GPS physical COM port
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

The physical COM port on the connected device\, currently only applies to SBF GPS


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 0 to 10 |
+-----------+---------+




.. _GPS_PRIMARY:

GPS\_PRIMARY: Primary GPS
~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This GPS will be used when GPS\_AUTO\_SWITCH is 0 and used preferentially with GPS\_AUTO\_SWITCH \= 4\.


+-------+-----------+
| Value | Meaning   |
+=======+===========+
| 0     | FirstGPS  |
+-------+-----------+
| 1     | SecondGPS |
+-------+-----------+




+-----------+
| Increment |
+===========+
| 1         |
+-----------+




.. _GPS_CAN_NODEID1:

GPS\_CAN\_NODEID1: GPS Node ID 1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

GPS Node id for first\-discovered GPS\.


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _GPS_CAN_NODEID2:

GPS\_CAN\_NODEID2: GPS Node ID 2
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

GPS Node id for second\-discovered GPS\.


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _GPS1_CAN_OVRIDE:

GPS1\_CAN\_OVRIDE: First DroneCAN GPS NODE ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

GPS Node id for first GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\.


.. _GPS2_CAN_OVRIDE:

GPS2\_CAN\_OVRIDE: Second DroneCAN GPS NODE ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

GPS Node id for second GPS\. If 0 the gps will be automatically selected on a second\-come\-second\-GPS basis\.



.. _parameters_GPS_MB1_:

GPS\_MB1\_ Parameters
---------------------


.. _GPS_MB1_TYPE:

GPS\_MB1\_TYPE: Moving base type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Controls the type of moving base used if using moving base\.


+-------+------------------------------------+
| Value | Meaning                            |
+=======+====================================+
| 0     | Relative to alternate GPS instance |
+-------+------------------------------------+
| 1     | RelativeToCustomBase               |
+-------+------------------------------------+




.. _GPS_MB1_OFS_X:

GPS\_MB1\_OFS\_X: Base antenna X position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

X position of the base GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_MB1_OFS_Y:

GPS\_MB1\_OFS\_Y: Base antenna Y position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Y position of the base GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_MB1_OFS_Z:

GPS\_MB1\_OFS\_Z: Base antenna Z position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Z position of the base GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+





.. _parameters_GPS_MB2_:

GPS\_MB2\_ Parameters
---------------------


.. _GPS_MB2_TYPE:

GPS\_MB2\_TYPE: Moving base type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Controls the type of moving base used if using moving base\.


+-------+------------------------------------+
| Value | Meaning                            |
+=======+====================================+
| 0     | Relative to alternate GPS instance |
+-------+------------------------------------+
| 1     | RelativeToCustomBase               |
+-------+------------------------------------+




.. _GPS_MB2_OFS_X:

GPS\_MB2\_OFS\_X: Base antenna X position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

X position of the base GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_MB2_OFS_Y:

GPS\_MB2\_OFS\_Y: Base antenna Y position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Y position of the base GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _GPS_MB2_OFS_Z:

GPS\_MB2\_OFS\_Z: Base antenna Z position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Z position of the base GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+





.. _parameters_INS_:

INS\_ Parameters
----------------


.. _INS_GYROFFS_X:

INS\_GYROFFS\_X: Gyro offsets of X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------------+--------------------+
| Calibration | Units              |
+=============+====================+
| 1           | radians per second |
+-------------+--------------------+




.. _INS_GYROFFS_Y:

INS\_GYROFFS\_Y: Gyro offsets of Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------------+--------------------+
| Calibration | Units              |
+=============+====================+
| 1           | radians per second |
+-------------+--------------------+




.. _INS_GYROFFS_Z:

INS\_GYROFFS\_Z: Gyro offsets of Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------------+--------------------+
| Calibration | Units              |
+=============+====================+
| 1           | radians per second |
+-------------+--------------------+




.. _INS_GYR2OFFS_X:

INS\_GYR2OFFS\_X: Gyro2 offsets of X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Gyro2 sensor offsets of X axis\. This is setup on each boot during gyro calibrations


+-------------+--------------------+
| Calibration | Units              |
+=============+====================+
| 1           | radians per second |
+-------------+--------------------+




.. _INS_GYR2OFFS_Y:

INS\_GYR2OFFS\_Y: Gyro2 offsets of Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Gyro2 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations


+-------------+--------------------+
| Calibration | Units              |
+=============+====================+
| 1           | radians per second |
+-------------+--------------------+




.. _INS_GYR2OFFS_Z:

INS\_GYR2OFFS\_Z: Gyro2 offsets of Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Gyro2 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations


+-------------+--------------------+
| Calibration | Units              |
+=============+====================+
| 1           | radians per second |
+-------------+--------------------+




.. _INS_GYR3OFFS_X:

INS\_GYR3OFFS\_X: Gyro3 offsets of X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Gyro3 sensor offsets of X axis\. This is setup on each boot during gyro calibrations


+-------------+--------------------+
| Calibration | Units              |
+=============+====================+
| 1           | radians per second |
+-------------+--------------------+




.. _INS_GYR3OFFS_Y:

INS\_GYR3OFFS\_Y: Gyro3 offsets of Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Gyro3 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations


+-------------+--------------------+
| Calibration | Units              |
+=============+====================+
| 1           | radians per second |
+-------------+--------------------+




.. _INS_GYR3OFFS_Z:

INS\_GYR3OFFS\_Z: Gyro3 offsets of Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Gyro3 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations


+-------------+--------------------+
| Calibration | Units              |
+=============+====================+
| 1           | radians per second |
+-------------+--------------------+




.. _INS_ACCSCAL_X:

INS\_ACCSCAL\_X: Accelerometer scaling of X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer scaling of X axis\.  Calculated during acceleration calibration routine


+-------------+------------+
| Calibration | Range      |
+=============+============+
| 1           | 0.8 to 1.2 |
+-------------+------------+




.. _INS_ACCSCAL_Y:

INS\_ACCSCAL\_Y: Accelerometer scaling of Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer scaling of Y axis  Calculated during acceleration calibration routine


+-------------+------------+
| Calibration | Range      |
+=============+============+
| 1           | 0.8 to 1.2 |
+-------------+------------+




.. _INS_ACCSCAL_Z:

INS\_ACCSCAL\_Z: Accelerometer scaling of Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer scaling of Z axis  Calculated during acceleration calibration routine


+-------------+------------+
| Calibration | Range      |
+=============+============+
| 1           | 0.8 to 1.2 |
+-------------+------------+




.. _INS_ACCOFFS_X:

INS\_ACCOFFS\_X: Accelerometer offsets of X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------------+-------------+--------------------------+
| Calibration | Range       | Units                    |
+=============+=============+==========================+
| 1           | -3.5 to 3.5 | meters per square second |
+-------------+-------------+--------------------------+




.. _INS_ACCOFFS_Y:

INS\_ACCOFFS\_Y: Accelerometer offsets of Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------------+-------------+--------------------------+
| Calibration | Range       | Units                    |
+=============+=============+==========================+
| 1           | -3.5 to 3.5 | meters per square second |
+-------------+-------------+--------------------------+




.. _INS_ACCOFFS_Z:

INS\_ACCOFFS\_Z: Accelerometer offsets of Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------------+-------------+--------------------------+
| Calibration | Range       | Units                    |
+=============+=============+==========================+
| 1           | -3.5 to 3.5 | meters per square second |
+-------------+-------------+--------------------------+




.. _INS_ACC2SCAL_X:

INS\_ACC2SCAL\_X: Accelerometer2 scaling of X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer2 scaling of X axis\.  Calculated during acceleration calibration routine


+-------------+------------+
| Calibration | Range      |
+=============+============+
| 1           | 0.8 to 1.2 |
+-------------+------------+




.. _INS_ACC2SCAL_Y:

INS\_ACC2SCAL\_Y: Accelerometer2 scaling of Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine


+-------------+------------+
| Calibration | Range      |
+=============+============+
| 1           | 0.8 to 1.2 |
+-------------+------------+




.. _INS_ACC2SCAL_Z:

INS\_ACC2SCAL\_Z: Accelerometer2 scaling of Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine


+-------------+------------+
| Calibration | Range      |
+=============+============+
| 1           | 0.8 to 1.2 |
+-------------+------------+




.. _INS_ACC2OFFS_X:

INS\_ACC2OFFS\_X: Accelerometer2 offsets of X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer2 offsets of X axis\. This is setup using the acceleration calibration or level operations


+-------------+-------------+--------------------------+
| Calibration | Range       | Units                    |
+=============+=============+==========================+
| 1           | -3.5 to 3.5 | meters per square second |
+-------------+-------------+--------------------------+




.. _INS_ACC2OFFS_Y:

INS\_ACC2OFFS\_Y: Accelerometer2 offsets of Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer2 offsets of Y axis\. This is setup using the acceleration calibration or level operations


+-------------+-------------+--------------------------+
| Calibration | Range       | Units                    |
+=============+=============+==========================+
| 1           | -3.5 to 3.5 | meters per square second |
+-------------+-------------+--------------------------+




.. _INS_ACC2OFFS_Z:

INS\_ACC2OFFS\_Z: Accelerometer2 offsets of Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer2 offsets of Z axis\. This is setup using the acceleration calibration or level operations


+-------------+-------------+--------------------------+
| Calibration | Range       | Units                    |
+=============+=============+==========================+
| 1           | -3.5 to 3.5 | meters per square second |
+-------------+-------------+--------------------------+




.. _INS_ACC3SCAL_X:

INS\_ACC3SCAL\_X: Accelerometer3 scaling of X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer3 scaling of X axis\.  Calculated during acceleration calibration routine


+-------------+------------+
| Calibration | Range      |
+=============+============+
| 1           | 0.8 to 1.2 |
+-------------+------------+




.. _INS_ACC3SCAL_Y:

INS\_ACC3SCAL\_Y: Accelerometer3 scaling of Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine


+-------------+------------+
| Calibration | Range      |
+=============+============+
| 1           | 0.8 to 1.2 |
+-------------+------------+




.. _INS_ACC3SCAL_Z:

INS\_ACC3SCAL\_Z: Accelerometer3 scaling of Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine


+-------------+------------+
| Calibration | Range      |
+=============+============+
| 1           | 0.8 to 1.2 |
+-------------+------------+




.. _INS_ACC3OFFS_X:

INS\_ACC3OFFS\_X: Accelerometer3 offsets of X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer3 offsets of X axis\. This is setup using the acceleration calibration or level operations


+-------------+-------------+--------------------------+
| Calibration | Range       | Units                    |
+=============+=============+==========================+
| 1           | -3.5 to 3.5 | meters per square second |
+-------------+-------------+--------------------------+




.. _INS_ACC3OFFS_Y:

INS\_ACC3OFFS\_Y: Accelerometer3 offsets of Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer3 offsets of Y axis\. This is setup using the acceleration calibration or level operations


+-------------+-------------+--------------------------+
| Calibration | Range       | Units                    |
+=============+=============+==========================+
| 1           | -3.5 to 3.5 | meters per square second |
+-------------+-------------+--------------------------+




.. _INS_ACC3OFFS_Z:

INS\_ACC3OFFS\_Z: Accelerometer3 offsets of Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer3 offsets of Z axis\. This is setup using the acceleration calibration or level operations


+-------------+-------------+--------------------------+
| Calibration | Range       | Units                    |
+=============+=============+==========================+
| 1           | -3.5 to 3.5 | meters per square second |
+-------------+-------------+--------------------------+




.. _INS_GYRO_FILTER:

INS\_GYRO\_FILTER: Gyro filter cutoff frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Filter cutoff frequency for gyroscopes\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\)


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 256 | hertz |
+----------+-------+




.. _INS_ACCEL_FILTER:

INS\_ACCEL\_FILTER: Accel filter cutoff frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Filter cutoff frequency for accelerometers\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\)


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 256 | hertz |
+----------+-------+




.. _INS_USE:

INS\_USE: Use first IMU for attitude\, velocity and position estimates
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Use first IMU for attitude\, velocity and position estimates


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _INS_USE2:

INS\_USE2: Use second IMU for attitude\, velocity and position estimates
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Use second IMU for attitude\, velocity and position estimates


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _INS_USE3:

INS\_USE3: Use third IMU for attitude\, velocity and position estimates
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Use third IMU for attitude\, velocity and position estimates


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _INS_STILL_THRESH:

INS\_STILL\_THRESH: Stillness threshold for detecting if we are moving
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Threshold to tolerate vibration to determine if vehicle is motionless\. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing\. Total motionless is about 0\.05\. Suggested values\: Planes\/rover use 0\.1\, multirotors use 1\, tradHeli uses 5


+------------+
| Range      |
+============+
| 0.05 to 50 |
+------------+




.. _INS_GYR_CAL:

INS\_GYR\_CAL: Gyro Calibration scheme
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Conrols when automatic gyro calibration is performed


+-------+---------------+
| Value | Meaning       |
+=======+===============+
| 0     | Never         |
+-------+---------------+
| 1     | Start-up only |
+-------+---------------+




.. _INS_TRIM_OPTION:

INS\_TRIM\_OPTION: Accel cal trim option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Specifies how the accel cal routine determines the trims


+-------+--------------------------------------------------------+
| Value | Meaning                                                |
+=======+========================================================+
| 0     | Don't adjust the trims                                 |
+-------+--------------------------------------------------------+
| 1     | Assume first orientation was level                     |
+-------+--------------------------------------------------------+
| 2     | Assume ACC_BODYFIX is perfectly aligned to the vehicle |
+-------+--------------------------------------------------------+




.. _INS_ACC_BODYFIX:

INS\_ACC\_BODYFIX: Body\-fixed accelerometer
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The body\-fixed accelerometer to be used for trim calculation


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | IMU 1   |
+-------+---------+
| 2     | IMU 2   |
+-------+---------+
| 3     | IMU 3   |
+-------+---------+




.. _INS_POS1_X:

INS\_POS1\_X: IMU accelerometer X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _INS_POS1_Y:

INS\_POS1\_Y: IMU accelerometer Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _INS_POS1_Z:

INS\_POS1\_Z: IMU accelerometer Z position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _INS_POS2_X:

INS\_POS2\_X: IMU accelerometer X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

X position of the second IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _INS_POS2_Y:

INS\_POS2\_Y: IMU accelerometer Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Y position of the second IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _INS_POS2_Z:

INS\_POS2\_Z: IMU accelerometer Z position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Z position of the second IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _INS_POS3_X:

INS\_POS3\_X: IMU accelerometer X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

X position of the third IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\.


+-----------+--------+
| Range     | Units  |
+===========+========+
| -10 to 10 | meters |
+-----------+--------+




.. _INS_POS3_Y:

INS\_POS3\_Y: IMU accelerometer Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Y position of the third IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _INS_POS3_Z:

INS\_POS3\_Z: IMU accelerometer Z position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Z position of the third IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _INS_GYR_ID:

INS\_GYR\_ID: Gyro ID
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Gyro sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _INS_GYR2_ID:

INS\_GYR2\_ID: Gyro2 ID
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Gyro2 sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _INS_GYR3_ID:

INS\_GYR3\_ID: Gyro3 ID
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Gyro3 sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _INS_ACC_ID:

INS\_ACC\_ID: Accelerometer ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _INS_ACC2_ID:

INS\_ACC2\_ID: Accelerometer2 ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer2 sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _INS_ACC3_ID:

INS\_ACC3\_ID: Accelerometer3 ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Accelerometer3 sensor ID\, taking into account its type\, bus and instance


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _INS_FAST_SAMPLE:

INS\_FAST\_SAMPLE: Fast sampling mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Mask of IMUs to enable fast sampling on\, if available


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | FirstIMU  |
+-----+-----------+
| 1   | SecondIMU |
+-----+-----------+
| 2   | ThirdIMU  |
+-----+-----------+




.. _INS_ENABLE_MASK:

INS\_ENABLE\_MASK: IMU enable mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask of IMUs to enable\. It can be used to prevent startup of specific detected IMUs


+-----+------------+
| Bit | Meaning    |
+=====+============+
| 0   | FirstIMU   |
+-----+------------+
| 1   | SecondIMU  |
+-----+------------+
| 2   | ThirdIMU   |
+-----+------------+
| 3   | FourthIMU  |
+-----+------------+
| 4   | FifthIMU   |
+-----+------------+
| 5   | SixthIMU   |
+-----+------------+
| 6   | SeventhIMU |
+-----+------------+




.. _INS_GYRO_RATE:

INS\_GYRO\_RATE: Gyro rate for IMUs with Fast Sampling enabled
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Gyro rate for IMUs with fast sampling enabled\. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency\. If the sensor does not support the selected rate the next highest supported rate will be used\. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | 1kHz    |
+-------+---------+
| 1     | 2kHz    |
+-------+---------+
| 2     | 4kHz    |
+-------+---------+
| 3     | 8kHz    |
+-------+---------+




.. _INS_ACC1_CALTEMP:

INS\_ACC1\_CALTEMP: Calibration temperature for 1st accelerometer
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Temperature that the 1st accelerometer was calibrated at


+-------------+-----------------+
| Calibration | Units           |
+=============+=================+
| 1           | degrees Celsius |
+-------------+-----------------+




.. _INS_GYR1_CALTEMP:

INS\_GYR1\_CALTEMP: Calibration temperature for 1st gyroscope
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Temperature that the 1st gyroscope was calibrated at


+-------------+-----------------+
| Calibration | Units           |
+=============+=================+
| 1           | degrees Celsius |
+-------------+-----------------+




.. _INS_ACC2_CALTEMP:

INS\_ACC2\_CALTEMP: Calibration temperature for 2nd accelerometer
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Temperature that the 2nd accelerometer was calibrated at


+-------------+-----------------+
| Calibration | Units           |
+=============+=================+
| 1           | degrees Celsius |
+-------------+-----------------+




.. _INS_GYR2_CALTEMP:

INS\_GYR2\_CALTEMP: Calibration temperature for 2nd gyroscope
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Temperature that the 2nd gyroscope was calibrated at


+-------------+-----------------+
| Calibration | Units           |
+=============+=================+
| 1           | degrees Celsius |
+-------------+-----------------+




.. _INS_ACC3_CALTEMP:

INS\_ACC3\_CALTEMP: Calibration temperature for 3rd accelerometer
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Temperature that the 3rd accelerometer was calibrated at


+-------------+-----------------+
| Calibration | Units           |
+=============+=================+
| 1           | degrees Celsius |
+-------------+-----------------+




.. _INS_GYR3_CALTEMP:

INS\_GYR3\_CALTEMP: Calibration temperature for 3rd gyroscope
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Temperature that the 3rd gyroscope was calibrated at


+-------------+-----------------+
| Calibration | Units           |
+=============+=================+
| 1           | degrees Celsius |
+-------------+-----------------+




.. _INS_TCAL_OPTIONS:

INS\_TCAL\_OPTIONS: Options for temperature calibration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This enables optional temperature calibration features\. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader\.


+-----+---------------+
| Bit | Meaning       |
+=====+===============+
| 0   | PersistParams |
+-----+---------------+





.. _parameters_INS_HNTC2_:

INS\_HNTC2\_ Parameters
-----------------------


.. _INS_HNTC2_ENABLE:

INS\_HNTC2\_ENABLE: Harmonic Notch Filter enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter enable


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _INS_HNTC2_FREQ:

INS\_HNTC2\_FREQ: Harmonic Notch Filter base frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter base center frequency in Hz\. This 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     | Units |
+===========+=======+
| 10 to 495 | hertz |
+-----------+-------+




.. _INS_HNTC2_BW:

INS\_HNTC2\_BW: Harmonic Notch Filter bandwidth
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\.


+----------+-------+
| Range    | Units |
+==========+=======+
| 5 to 250 | hertz |
+----------+-------+




.. _INS_HNTC2_ATT:

INS\_HNTC2\_ATT: Harmonic Notch Filter attenuation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\.


+---------+---------+
| Range   | Units   |
+=========+=========+
| 5 to 50 | decibel |
+---------+---------+




.. _INS_HNTC2_HMNCS:

INS\_HNTC2\_HMNCS: Harmonic Notch Filter harmonics
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\.


+-----+--------------+
| Bit | Meaning      |
+=====+==============+
| 0   | 1st harmonic |
+-----+--------------+
| 1   | 2nd harmonic |
+-----+--------------+
| 2   | 3rd harmonic |
+-----+--------------+
| 3   | 4th hamronic |
+-----+--------------+
| 4   | 5th harmonic |
+-----+--------------+
| 5   | 6th harmonic |
+-----+--------------+
| 6   | 7th harmonic |
+-----+--------------+
| 7   | 8th harmonic |
+-----+--------------+




.. _INS_HNTC2_REF:

INS\_HNTC2\_REF: Harmonic Notch Filter reference value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\.  For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\.  This reference value may also be used to scale the sensor data\, if required\.  For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\.


+------------+
| Range      |
+============+
| 0.0 to 1.0 |
+------------+




.. _INS_HNTC2_MODE:

INS\_HNTC2\_MODE: Harmonic Notch Filter dynamic frequency tracking mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based updates should only be used with multicopters\.


+-------+-------------------+
| Value | Meaning           |
+=======+===================+
| 0     | Disabled          |
+-------+-------------------+
| 1     | Throttle          |
+-------+-------------------+
| 2     | RPM Sensor        |
+-------+-------------------+
| 3     | ESC Telemetry     |
+-------+-------------------+
| 4     | Dynamic FFT       |
+-------+-------------------+
| 5     | Second RPM Sensor |
+-------+-------------------+




+--------+
| Range  |
+========+
| 0 to 4 |
+--------+




.. _INS_HNTC2_OPTS:

INS\_HNTC2\_OPTS: Harmonic Notch Filter options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. 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\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\.


+-----+---------------------+
| Bit | Meaning             |
+=====+=====================+
| 0   | Double notch        |
+-----+---------------------+
| 1   | Dynamic harmonic    |
+-----+---------------------+
| 2   | Update at loop rate |
+-----+---------------------+
| 3   | EnableOnAllIMUs     |
+-----+---------------------+
| 4   | Triple notch        |
+-----+---------------------+




.. _INS_HNTC2_FM_RAT:

INS\_HNTC2\_FM\_RAT: Throttle notch min freqency ratio
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\.


+------------+
| Range      |
+============+
| 0.1 to 1.0 |
+------------+





.. _parameters_INS_HNTCH_:

INS\_HNTCH\_ Parameters
-----------------------


.. _INS_HNTCH_ENABLE:

INS\_HNTCH\_ENABLE: Harmonic Notch Filter enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter enable


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _INS_HNTCH_FREQ:

INS\_HNTCH\_FREQ: Harmonic Notch Filter base frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter base center frequency in Hz\. This 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     | Units |
+===========+=======+
| 10 to 495 | hertz |
+-----------+-------+




.. _INS_HNTCH_BW:

INS\_HNTCH\_BW: Harmonic Notch Filter bandwidth
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\.


+----------+-------+
| Range    | Units |
+==========+=======+
| 5 to 250 | hertz |
+----------+-------+




.. _INS_HNTCH_ATT:

INS\_HNTCH\_ATT: Harmonic Notch Filter attenuation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\.


+---------+---------+
| Range   | Units   |
+=========+=========+
| 5 to 50 | decibel |
+---------+---------+




.. _INS_HNTCH_HMNCS:

INS\_HNTCH\_HMNCS: Harmonic Notch Filter harmonics
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\.


+-----+--------------+
| Bit | Meaning      |
+=====+==============+
| 0   | 1st harmonic |
+-----+--------------+
| 1   | 2nd harmonic |
+-----+--------------+
| 2   | 3rd harmonic |
+-----+--------------+
| 3   | 4th hamronic |
+-----+--------------+
| 4   | 5th harmonic |
+-----+--------------+
| 5   | 6th harmonic |
+-----+--------------+
| 6   | 7th harmonic |
+-----+--------------+
| 7   | 8th harmonic |
+-----+--------------+




.. _INS_HNTCH_REF:

INS\_HNTCH\_REF: Harmonic Notch Filter reference value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\.  For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\.  This reference value may also be used to scale the sensor data\, if required\.  For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\.


+------------+
| Range      |
+============+
| 0.0 to 1.0 |
+------------+




.. _INS_HNTCH_MODE:

INS\_HNTCH\_MODE: Harmonic Notch Filter dynamic frequency tracking mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based updates should only be used with multicopters\.


+-------+-------------------+
| Value | Meaning           |
+=======+===================+
| 0     | Disabled          |
+-------+-------------------+
| 1     | Throttle          |
+-------+-------------------+
| 2     | RPM Sensor        |
+-------+-------------------+
| 3     | ESC Telemetry     |
+-------+-------------------+
| 4     | Dynamic FFT       |
+-------+-------------------+
| 5     | Second RPM Sensor |
+-------+-------------------+




+--------+
| Range  |
+========+
| 0 to 4 |
+--------+




.. _INS_HNTCH_OPTS:

INS\_HNTCH\_OPTS: Harmonic Notch Filter options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. 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\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\.


+-----+---------------------+
| Bit | Meaning             |
+=====+=====================+
| 0   | Double notch        |
+-----+---------------------+
| 1   | Dynamic harmonic    |
+-----+---------------------+
| 2   | Update at loop rate |
+-----+---------------------+
| 3   | EnableOnAllIMUs     |
+-----+---------------------+
| 4   | Triple notch        |
+-----+---------------------+




.. _INS_HNTCH_FM_RAT:

INS\_HNTCH\_FM\_RAT: Throttle notch min freqency ratio
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\.


+------------+
| Range      |
+============+
| 0.1 to 1.0 |
+------------+





.. _parameters_INS_LOG_:

INS\_LOG\_ Parameters
---------------------


.. _INS_LOG_BAT_CNT:

INS\_LOG\_BAT\_CNT: sample count per batch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Number of samples to take when logging streams of IMU sensor readings\.  Will be rounded down to a multiple of 32\. This option takes effect on the next reboot\.


+-----------+
| Increment |
+===========+
| 32        |
+-----------+




.. _INS_LOG_BAT_MASK:

INS\_LOG\_BAT\_MASK: Sensor Bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Bitmap of which IMUs to log batch data for\. This option takes effect on the next reboot\.


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | IMU1    |
+-----+---------+
| 1   | IMU2    |
+-----+---------+
| 2   | IMU3    |
+-----+---------+




.. _INS_LOG_BAT_OPT:

INS\_LOG\_BAT\_OPT: Batch Logging Options Mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Options for the BatchSampler\.


+-----+-------------------------------------------------------------+
| Bit | Meaning                                                     |
+=====+=============================================================+
| 0   | Sensor-Rate Logging (sample at full sensor rate seen by AP) |
+-----+-------------------------------------------------------------+
| 1   | Sample post-filtering                                       |
+-----+-------------------------------------------------------------+
| 2   | Sample pre- and post-filter                                 |
+-----+-------------------------------------------------------------+




.. _INS_LOG_BAT_LGIN:

INS\_LOG\_BAT\_LGIN: logging interval
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Interval between pushing samples to the AP\_Logger log


+-----------+--------------+
| Increment | Units        |
+===========+==============+
| 10        | milliseconds |
+-----------+--------------+




.. _INS_LOG_BAT_LGCT:

INS\_LOG\_BAT\_LGCT: logging count
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of samples to push to count every INS\_LOG\_BAT\_LGIN


+-----------+
| Increment |
+===========+
| 1         |
+-----------+





.. _parameters_INS_TCAL1_:

INS\_TCAL1\_ Parameters
-----------------------


.. _INS_TCAL1_ENABLE:

INS\_TCAL1\_ENABLE: Enable temperature calibration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot


+-------+------------------+
| Value | Meaning          |
+=======+==================+
| 0     | Disabled         |
+-------+------------------+
| 1     | Enabled          |
+-------+------------------+
| 2     | LearnCalibration |
+-------+------------------+




.. _INS_TCAL1_TMIN:

INS\_TCAL1\_TMIN: Temperature calibration min
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The minimum temperature that the calibration is valid for


+-------------+-----------+-----------------+
| Calibration | Range     | Units           |
+=============+===========+=================+
| 1           | -70 to 80 | degrees Celsius |
+-------------+-----------+-----------------+




.. _INS_TCAL1_TMAX:

INS\_TCAL1\_TMAX: Temperature calibration max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration


+-------------+-----------+-----------------+
| Calibration | Range     | Units           |
+=============+===========+=================+
| 1           | -70 to 80 | degrees Celsius |
+-------------+-----------+-----------------+




.. _INS_TCAL1_ACC1_X:

INS\_TCAL1\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_ACC1_Y:

INS\_TCAL1\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_ACC1_Z:

INS\_TCAL1\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_ACC2_X:

INS\_TCAL1\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_ACC2_Y:

INS\_TCAL1\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_ACC2_Z:

INS\_TCAL1\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_ACC3_X:

INS\_TCAL1\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_ACC3_Y:

INS\_TCAL1\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_ACC3_Z:

INS\_TCAL1\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_GYR1_X:

INS\_TCAL1\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_GYR1_Y:

INS\_TCAL1\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_GYR1_Z:

INS\_TCAL1\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_GYR2_X:

INS\_TCAL1\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_GYR2_Y:

INS\_TCAL1\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_GYR2_Z:

INS\_TCAL1\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_GYR3_X:

INS\_TCAL1\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_GYR3_Y:

INS\_TCAL1\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL1_GYR3_Z:

INS\_TCAL1\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+





.. _parameters_INS_TCAL2_:

INS\_TCAL2\_ Parameters
-----------------------


.. _INS_TCAL2_ENABLE:

INS\_TCAL2\_ENABLE: Enable temperature calibration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot


+-------+------------------+
| Value | Meaning          |
+=======+==================+
| 0     | Disabled         |
+-------+------------------+
| 1     | Enabled          |
+-------+------------------+
| 2     | LearnCalibration |
+-------+------------------+




.. _INS_TCAL2_TMIN:

INS\_TCAL2\_TMIN: Temperature calibration min
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The minimum temperature that the calibration is valid for


+-------------+-----------+-----------------+
| Calibration | Range     | Units           |
+=============+===========+=================+
| 1           | -70 to 80 | degrees Celsius |
+-------------+-----------+-----------------+




.. _INS_TCAL2_TMAX:

INS\_TCAL2\_TMAX: Temperature calibration max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration


+-------------+-----------+-----------------+
| Calibration | Range     | Units           |
+=============+===========+=================+
| 1           | -70 to 80 | degrees Celsius |
+-------------+-----------+-----------------+




.. _INS_TCAL2_ACC1_X:

INS\_TCAL2\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_ACC1_Y:

INS\_TCAL2\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_ACC1_Z:

INS\_TCAL2\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_ACC2_X:

INS\_TCAL2\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_ACC2_Y:

INS\_TCAL2\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_ACC2_Z:

INS\_TCAL2\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_ACC3_X:

INS\_TCAL2\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_ACC3_Y:

INS\_TCAL2\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_ACC3_Z:

INS\_TCAL2\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_GYR1_X:

INS\_TCAL2\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_GYR1_Y:

INS\_TCAL2\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_GYR1_Z:

INS\_TCAL2\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_GYR2_X:

INS\_TCAL2\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_GYR2_Y:

INS\_TCAL2\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_GYR2_Z:

INS\_TCAL2\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_GYR3_X:

INS\_TCAL2\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_GYR3_Y:

INS\_TCAL2\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL2_GYR3_Z:

INS\_TCAL2\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+





.. _parameters_INS_TCAL3_:

INS\_TCAL3\_ Parameters
-----------------------


.. _INS_TCAL3_ENABLE:

INS\_TCAL3\_ENABLE: Enable temperature calibration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot


+-------+------------------+
| Value | Meaning          |
+=======+==================+
| 0     | Disabled         |
+-------+------------------+
| 1     | Enabled          |
+-------+------------------+
| 2     | LearnCalibration |
+-------+------------------+




.. _INS_TCAL3_TMIN:

INS\_TCAL3\_TMIN: Temperature calibration min
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The minimum temperature that the calibration is valid for


+-------------+-----------+-----------------+
| Calibration | Range     | Units           |
+=============+===========+=================+
| 1           | -70 to 80 | degrees Celsius |
+-------------+-----------+-----------------+




.. _INS_TCAL3_TMAX:

INS\_TCAL3\_TMAX: Temperature calibration max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration


+-------------+-----------+-----------------+
| Calibration | Range     | Units           |
+=============+===========+=================+
| 1           | -70 to 80 | degrees Celsius |
+-------------+-----------+-----------------+




.. _INS_TCAL3_ACC1_X:

INS\_TCAL3\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_ACC1_Y:

INS\_TCAL3\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_ACC1_Z:

INS\_TCAL3\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_ACC2_X:

INS\_TCAL3\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_ACC2_Y:

INS\_TCAL3\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_ACC2_Z:

INS\_TCAL3\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_ACC3_X:

INS\_TCAL3\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_ACC3_Y:

INS\_TCAL3\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_ACC3_Z:

INS\_TCAL3\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_GYR1_X:

INS\_TCAL3\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_GYR1_Y:

INS\_TCAL3\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_GYR1_Z:

INS\_TCAL3\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 1st order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_GYR2_X:

INS\_TCAL3\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_GYR2_Y:

INS\_TCAL3\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_GYR2_Z:

INS\_TCAL3\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 2nd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_GYR3_X:

INS\_TCAL3\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_GYR3_Y:

INS\_TCAL3\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+




.. _INS_TCAL3_GYR3_Z:

INS\_TCAL3\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This is the 3rd order temperature coefficient from a temperature calibration


+-------------+
| Calibration |
+=============+
| 1           |
+-------------+





.. _parameters_LOG:

LOG Parameters
--------------


.. _LOG_BACKEND_TYPE:

LOG\_BACKEND\_TYPE: AP\_Logger Backend Storage 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\.


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | File    |
+-----+---------+
| 1   | MAVLink |
+-----+---------+
| 2   | Block   |
+-----+---------+




.. _LOG_FILE_BUFSIZE:

LOG\_FILE\_BUFSIZE: Maximum AP\_Logger File and Block Backend buffer size \(in kilobytes\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


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\.


.. _LOG_DISARMED:

LOG\_DISARMED: Enable logging while 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


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _LOG_REPLAY:

LOG\_REPLAY: Enable logging of information needed for 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


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _LOG_FILE_DSRMROT:

LOG\_FILE\_DSRMROT: Stop logging to current file on disarm
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


When set\, the current log file is closed when the vehicle is disarmed\.  If LOG\_DISARMED is set then a fresh log will be opened\. Applies to the File and Block logging backends\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _LOG_MAV_BUFSIZE:

LOG\_MAV\_BUFSIZE: Maximum AP\_Logger MAVLink Backend buffer size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Maximum amount of memory to allocate to AP\_Logger\-over\-mavlink


+-----------+
| Units     |
+===========+
| kilobytes |
+-----------+




.. _LOG_FILE_TIMEOUT:

LOG\_FILE\_TIMEOUT: Timeout before giving up on file writes
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped\.


+---------+
| Units   |
+=========+
| seconds |
+---------+




.. _LOG_FILE_MB_FREE:

LOG\_FILE\_MB\_FREE: Old logs on the SD card will be deleted to maintain this amount of free space
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Set this such that the free space is larger than your largest typical flight log


+------------+----------+
| Range      | Units    |
+============+==========+
| 10 to 1000 | megabyte |
+------------+----------+




.. _LOG_FILE_RATEMAX:

LOG\_FILE\_RATEMAX: Maximum logging rate for file backend
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This sets the maximum rate that streaming log messages will be logged to the file backend\. A value of zero means that rate limiting is disabled\.


+-----------+-----------+-------+
| Increment | Range     | Units |
+===========+===========+=======+
| 0.1       | 0 to 1000 | hertz |
+-----------+-----------+-------+




.. _LOG_MAV_RATEMAX:

LOG\_MAV\_RATEMAX: Maximum logging rate for mavlink backend
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This sets the maximum rate that streaming log messages will be logged to the mavlink backend\. A value of zero means that rate limiting is disabled\.


+-----------+-----------+-------+
| Increment | Range     | Units |
+===========+===========+=======+
| 0.1       | 0 to 1000 | hertz |
+-----------+-----------+-------+




.. _LOG_BLK_RATEMAX:

LOG\_BLK\_RATEMAX: Maximum logging rate for block backend
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This sets the maximum rate that streaming log messages will be logged to the mavlink backend\. A value of zero means that rate limiting is disabled\.


+-----------+-----------+-------+
| Increment | Range     | Units |
+===========+===========+=======+
| 0.1       | 0 to 1000 | hertz |
+-----------+-----------+-------+





.. _parameters_MSP:

MSP Parameters
--------------


.. _MSP_OSD_NCELLS:

MSP\_OSD\_NCELLS: Cell count override
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Used for average cell voltage calculation


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Auto    |
+-------+---------+
| 1     | 1       |
+-------+---------+
| 2     | 2       |
+-------+---------+
| 3     | 3       |
+-------+---------+
| 4     | 4       |
+-------+---------+
| 5     | 5       |
+-------+---------+
| 6     | 6       |
+-------+---------+
| 7     | 7       |
+-------+---------+
| 8     | 8       |
+-------+---------+
| 9     | 9       |
+-------+---------+
| 10    | 10      |
+-------+---------+
| 11    | 11      |
+-------+---------+
| 12    | 12      |
+-------+---------+
| 13    | 13      |
+-------+---------+
| 14    | 14      |
+-------+---------+




.. _MSP_OPTIONS:

MSP\_OPTIONS: MSP OSD Options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


A bitmask to set some MSP specific options


+-----+-----------------------+
| Bit | Meaning               |
+=====+=======================+
| 0   | EnableTelemetryMode   |
+-----+-----------------------+
| 1   | DisableDJIWorkarounds |
+-----+-----------------------+
| 2   | EnableBTFLFonts       |
+-----+-----------------------+





.. _parameters_NTF_:

NTF\_ Parameters
----------------


.. _NTF_LED_BRIGHT:

NTF\_LED\_BRIGHT: LED Brightness
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Select the RGB LED brightness level\. When USB is connected brightness will never be higher than low regardless of the setting\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Off     |
+-------+---------+
| 1     | Low     |
+-------+---------+
| 2     | Medium  |
+-------+---------+
| 3     | High    |
+-------+---------+




.. _NTF_BUZZ_TYPES:

NTF\_BUZZ\_TYPES: Buzzer Driver Types
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Controls what types of Buzzer will be enabled


+-----+-----------------+
| Bit | Meaning         |
+=====+=================+
| 0   | Built-in buzzer |
+-----+-----------------+
| 1   | DShot           |
+-----+-----------------+
| 2   | DroneCAN        |
+-----+-----------------+




.. _NTF_LED_OVERRIDE:

NTF\_LED\_OVERRIDE: Specifies colour source for the RGBLed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Specifies the source for the colours and brightness for the LED\.  OutbackChallenge conforms to the MedicalExpress \(https\:\/\/uavchallenge\.org\/medical\-express\/\) rules\, essentially \"Green\" is disarmed \(safe\-to\-approach\)\, \"Red\" is armed \(not safe\-to\-approach\)\. Traffic light is a simplified color set\, red when armed\, yellow when the safety switch is not surpressing outputs \(but disarmed\)\, and green when outputs are surpressed and disarmed\, the LED will blink faster if disarmed and failing arming checks\.


+-------+-----------------------------+
| Value | Meaning                     |
+=======+=============================+
| 0     | Standard                    |
+-------+-----------------------------+
| 1     | MAVLink/Scripting/AP_Periph |
+-------+-----------------------------+
| 2     | OutbackChallenge            |
+-------+-----------------------------+
| 3     | TrafficLight                |
+-------+-----------------------------+




.. _NTF_DISPLAY_TYPE:

NTF\_DISPLAY\_TYPE: Type of on\-board I2C display
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets up the type of on\-board I2C display\. Disabled by default\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Disable |
+-------+---------+
| 1     | ssd1306 |
+-------+---------+
| 2     | sh1106  |
+-------+---------+
| 10    | SITL    |
+-------+---------+




.. _NTF_OREO_THEME:

NTF\_OREO\_THEME: OreoLED Theme
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Enable\/Disable Solo Oreo LED driver\, 0 to disable\, 1 for Aircraft theme\, 2 for Rover theme


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Aircraft |
+-------+----------+
| 2     | Rover    |
+-------+----------+




.. _NTF_BUZZ_PIN:

NTF\_BUZZ\_PIN: Buzzer pin
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Enables to connect active buzzer to arbitrary pin\. Requires 3\-pin buzzer or additional MOSFET\! Some the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| -1    | Disabled |
+-------+----------+




.. _NTF_LED_TYPES:

NTF\_LED\_TYPES: LED Driver Types
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Controls what types of LEDs will be enabled


+-----+---------------------+
| Bit | Meaning             |
+=====+=====================+
| 0   | Built-in LED        |
+-----+---------------------+
| 1   | Internal ToshibaLED |
+-----+---------------------+
| 2   | External ToshibaLED |
+-----+---------------------+
| 3   | External PCA9685    |
+-----+---------------------+
| 4   | Oreo LED            |
+-----+---------------------+
| 5   | DroneCAN            |
+-----+---------------------+
| 6   | NCP5623 External    |
+-----+---------------------+
| 7   | NCP5623 Internal    |
+-----+---------------------+
| 8   | NeoPixel            |
+-----+---------------------+
| 9   | ProfiLED            |
+-----+---------------------+
| 10  | Scripting           |
+-----+---------------------+
| 11  | DShot               |
+-----+---------------------+
| 12  | ProfiLED_SPI        |
+-----+---------------------+




.. _NTF_BUZZ_ON_LVL:

NTF\_BUZZ\_ON\_LVL: Buzzer\-on pin logic level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Specifies pin level that indicates buzzer should play


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | LowIsOn  |
+-------+----------+
| 1     | HighIsOn |
+-------+----------+




.. _NTF_BUZZ_VOLUME:

NTF\_BUZZ\_VOLUME: Buzzer volume
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Control the volume of the buzzer


+----------+---------+
| Range    | Units   |
+==========+=========+
| 0 to 100 | percent |
+----------+---------+




.. _NTF_LED_LEN:

NTF\_LED\_LEN: Serial LED String Length
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

The number of Serial LED\'s to use for notifications \(NeoPixel\'s and ProfiLED\)


+---------+
| Range   |
+=========+
| 1 to 32 |
+---------+





.. _parameters_RC:

RC Parameters
-------------


.. _RC_OVERRIDE_TIME:

RC\_OVERRIDE\_TIME: RC override timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Timeout after which RC overrides will no longer be used\, and RC input will resume\, 0 will disable RC overrides\, \-1 will never timeout\, and continue using overrides until they are disabled


+--------------+---------+
| Range        | Units   |
+==============+=========+
| 0.0 to 120.0 | seconds |
+--------------+---------+




.. _RC_OPTIONS:

RC\_OPTIONS: RC options
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

RC input options


+-----+--------------------------------------------------------------------+
| Bit | Meaning                                                            |
+=====+====================================================================+
| 0   | Ignore RC Receiver                                                 |
+-----+--------------------------------------------------------------------+
| 1   | Ignore MAVLink Overrides                                           |
+-----+--------------------------------------------------------------------+
| 2   | Ignore Receiver Failsafe bit but allow other RC failsafes if setup |
+-----+--------------------------------------------------------------------+
| 3   | FPort Pad                                                          |
+-----+--------------------------------------------------------------------+
| 4   | Log RC input bytes                                                 |
+-----+--------------------------------------------------------------------+
| 5   | Arming check throttle for 0 input                                  |
+-----+--------------------------------------------------------------------+
| 6   | Skip the arming check for neutral Roll/Pitch/Yaw sticks            |
+-----+--------------------------------------------------------------------+
| 7   | Allow Switch reverse                                               |
+-----+--------------------------------------------------------------------+
| 8   | Use passthrough for CRSF telemetry                                 |
+-----+--------------------------------------------------------------------+
| 9   | Suppress CRSF mode/rate message for ELRS systems                   |
+-----+--------------------------------------------------------------------+
| 10  | Enable multiple receiver support                                   |
+-----+--------------------------------------------------------------------+
| 11  | CRSF RSSI shows Link Quality                                       |
+-----+--------------------------------------------------------------------+
| 12  | CRSF flight mode disarm star                                       |
+-----+--------------------------------------------------------------------+




.. _RC_PROTOCOLS:

RC\_PROTOCOLS: RC protocols enabled
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Bitmask of enabled RC protocols\. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection\. Set to 1 to enable all protocols\.


+-----+----------+
| Bit | Meaning  |
+=====+==========+
| 0   | All      |
+-----+----------+
| 1   | PPM      |
+-----+----------+
| 2   | IBUS     |
+-----+----------+
| 3   | SBUS     |
+-----+----------+
| 4   | SBUS_NI  |
+-----+----------+
| 5   | DSM      |
+-----+----------+
| 6   | SUMD     |
+-----+----------+
| 7   | SRXL     |
+-----+----------+
| 8   | SRXL2    |
+-----+----------+
| 9   | CRSF     |
+-----+----------+
| 10  | ST24     |
+-----+----------+
| 11  | FPORT    |
+-----+----------+
| 12  | FPORT2   |
+-----+----------+
| 13  | FastSBUS |
+-----+----------+




.. _RC_FS_TIMEOUT:

RC\_FS\_TIMEOUT: RC Failsafe timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


RC failsafe will trigger this many seconds after loss of RC


+-------------+---------+
| Range       | Units   |
+=============+=========+
| 0.5 to 10.0 | seconds |
+-------------+---------+





.. _parameters_RC10_:

RC10\_ Parameters
-----------------


.. _RC10_MIN:

RC10\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC10_TRIM:

RC10\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC10_MAX:

RC10\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC10_REVERSED:

RC10\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC10_DZ:

RC10\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC10_OPTION:

RC10\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC11_:

RC11\_ Parameters
-----------------


.. _RC11_MIN:

RC11\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC11_TRIM:

RC11\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC11_MAX:

RC11\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC11_REVERSED:

RC11\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC11_DZ:

RC11\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC11_OPTION:

RC11\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC12_:

RC12\_ Parameters
-----------------


.. _RC12_MIN:

RC12\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC12_TRIM:

RC12\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC12_MAX:

RC12\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC12_REVERSED:

RC12\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC12_DZ:

RC12\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC12_OPTION:

RC12\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC13_:

RC13\_ Parameters
-----------------


.. _RC13_MIN:

RC13\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC13_TRIM:

RC13\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC13_MAX:

RC13\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC13_REVERSED:

RC13\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC13_DZ:

RC13\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC13_OPTION:

RC13\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC14_:

RC14\_ Parameters
-----------------


.. _RC14_MIN:

RC14\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC14_TRIM:

RC14\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC14_MAX:

RC14\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC14_REVERSED:

RC14\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC14_DZ:

RC14\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC14_OPTION:

RC14\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC15_:

RC15\_ Parameters
-----------------


.. _RC15_MIN:

RC15\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC15_TRIM:

RC15\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC15_MAX:

RC15\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC15_REVERSED:

RC15\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC15_DZ:

RC15\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC15_OPTION:

RC15\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC16_:

RC16\_ Parameters
-----------------


.. _RC16_MIN:

RC16\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC16_TRIM:

RC16\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC16_MAX:

RC16\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC16_REVERSED:

RC16\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC16_DZ:

RC16\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC16_OPTION:

RC16\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC1_:

RC1\_ Parameters
----------------


.. _RC1_MIN:

RC1\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC1_TRIM:

RC1\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC1_MAX:

RC1\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC1_REVERSED:

RC1\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC1_DZ:

RC1\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC1_OPTION:

RC1\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC2_:

RC2\_ Parameters
----------------


.. _RC2_MIN:

RC2\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC2_TRIM:

RC2\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC2_MAX:

RC2\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC2_REVERSED:

RC2\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC2_DZ:

RC2\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC2_OPTION:

RC2\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC3_:

RC3\_ Parameters
----------------


.. _RC3_MIN:

RC3\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC3_TRIM:

RC3\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC3_MAX:

RC3\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC3_REVERSED:

RC3\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC3_DZ:

RC3\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC3_OPTION:

RC3\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC4_:

RC4\_ Parameters
----------------


.. _RC4_MIN:

RC4\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC4_TRIM:

RC4\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC4_MAX:

RC4\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC4_REVERSED:

RC4\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC4_DZ:

RC4\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC4_OPTION:

RC4\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC5_:

RC5\_ Parameters
----------------


.. _RC5_MIN:

RC5\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC5_TRIM:

RC5\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC5_MAX:

RC5\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC5_REVERSED:

RC5\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC5_DZ:

RC5\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC5_OPTION:

RC5\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC6_:

RC6\_ Parameters
----------------


.. _RC6_MIN:

RC6\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC6_TRIM:

RC6\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC6_MAX:

RC6\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC6_REVERSED:

RC6\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC6_DZ:

RC6\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC6_OPTION:

RC6\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC7_:

RC7\_ Parameters
----------------


.. _RC7_MIN:

RC7\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC7_TRIM:

RC7\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC7_MAX:

RC7\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC7_REVERSED:

RC7\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC7_DZ:

RC7\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC7_OPTION:

RC7\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC8_:

RC8\_ Parameters
----------------


.. _RC8_MIN:

RC8\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC8_TRIM:

RC8\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC8_MAX:

RC8\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC8_REVERSED:

RC8\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC8_DZ:

RC8\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC8_OPTION:

RC8\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RC9_:

RC9\_ Parameters
----------------


.. _RC9_MIN:

RC9\_MIN: RC min PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC9_TRIM:

RC9\_TRIM: RC trim PWM
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC9_MAX:

RC9\_MAX: RC max PWM
~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _RC9_REVERSED:

RC9\_REVERSED: RC reversed
~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _RC9_DZ:

RC9\_DZ: RC dead\-zone
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

PWM dead zone in microseconds around trim or bottom


+----------+---------------------+
| Range    | Units               |
+==========+=====================+
| 0 to 200 | PWM in microseconds |
+----------+---------------------+




.. _RC9_OPTION:

RC9\_OPTION: RC input option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Function assigned to this RC channel


+-------+----------------------+
| Value | Meaning              |
+=======+======================+
| 0     | Do Nothing           |
+-------+----------------------+
| 18    | Land                 |
+-------+----------------------+
| 46    | RC Override Enable   |
+-------+----------------------+
| 65    | GPS Disable          |
+-------+----------------------+
| 81    | Disarm               |
+-------+----------------------+
| 90    | EKF Pos Source       |
+-------+----------------------+
| 100   | KillIMU1             |
+-------+----------------------+
| 101   | KillIMU2             |
+-------+----------------------+
| 153   | ArmDisarm            |
+-------+----------------------+
| 164   | Pause Stream Logging |
+-------+----------------------+
| 166   | Camera Record Video  |
+-------+----------------------+
| 167   | Camera Zoom          |
+-------+----------------------+
| 168   | Camera Manual Focus  |
+-------+----------------------+
| 169   | Camera Auto Focus    |
+-------+----------------------+





.. _parameters_RCMAP_:

RCMAP\_ Parameters
------------------


.. _RCMAP_ROLL:

RCMAP\_ROLL: Roll channel
~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Roll channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Roll is normally on channel 1\, but you can move it to any channel with this parameter\.  Reboot is required for changes to take effect\.


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 1 to 16 |
+-----------+---------+




.. _RCMAP_PITCH:

RCMAP\_PITCH: Pitch channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Pitch channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Pitch is normally on channel 2\, but you can move it to any channel with this parameter\.  Reboot is required for changes to take effect\.


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 1 to 16 |
+-----------+---------+




.. _RCMAP_THROTTLE:

RCMAP\_THROTTLE: Throttle channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Throttle channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Throttle is normally on channel 3\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\.


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 1 to 16 |
+-----------+---------+




.. _RCMAP_YAW:

RCMAP\_YAW: Yaw channel
~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

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


+-----------+---------+
| Increment | Range   |
+===========+=========+
| 1         | 1 to 16 |
+-----------+---------+





.. _parameters_RSSI_:

RSSI\_ Parameters
-----------------


.. _RSSI_TYPE:

RSSI\_TYPE: RSSI Type
~~~~~~~~~~~~~~~~~~~~~


Radio Receiver RSSI type\. If your radio receiver supports RSSI of some kind\, set it here\, then set its associated RSSI\_XXXXX parameters\, if any\.


+-------+--------------------+
| Value | Meaning            |
+=======+====================+
| 0     | Disabled           |
+-------+--------------------+
| 1     | AnalogPin          |
+-------+--------------------+
| 2     | RCChannelPwmValue  |
+-------+--------------------+
| 3     | ReceiverProtocol   |
+-------+--------------------+
| 4     | PWMInputPin        |
+-------+--------------------+
| 5     | TelemetryRadioRSSI |
+-------+--------------------+




.. _RSSI_ANA_PIN:

RSSI\_ANA\_PIN: Receiver RSSI sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Pin used to read the RSSI voltage or PWM value


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| 8     | V5 Nano                   |
+-------+---------------------------+
| 11    | Pixracer                  |
+-------+---------------------------+
| 13    | Pixhawk ADC4              |
+-------+---------------------------+
| 14    | Pixhawk ADC3              |
+-------+---------------------------+
| 15    | Pixhawk ADC6/Pixhawk2 ADC |
+-------+---------------------------+
| 50    | AUX1                      |
+-------+---------------------------+
| 51    | AUX2                      |
+-------+---------------------------+
| 52    | AUX3                      |
+-------+---------------------------+
| 53    | AUX4                      |
+-------+---------------------------+
| 54    | AUX5                      |
+-------+---------------------------+
| 55    | AUX6                      |
+-------+---------------------------+
| 103   | Pixhawk SBUS              |
+-------+---------------------------+




.. _RSSI_PIN_LOW:

RSSI\_PIN\_LOW: RSSI pin\'s lowest voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers put out inverted values so this value may be higher than RSSI\_PIN\_HIGH\. When using pin 103\, the maximum value of the parameter is 3\.3V\.


+-----------+----------+-------+
| Increment | Range    | Units |
+===========+==========+=======+
| 0.01      | 0 to 5.0 | volt  |
+-----------+----------+-------+




.. _RSSI_PIN_HIGH:

RSSI\_PIN\_HIGH: RSSI pin\'s highest voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers put out inverted values so this value may be lower than RSSI\_PIN\_LOW\. When using pin 103\, the maximum value of the parameter is 3\.3V\.


+-----------+----------+-------+
| Increment | Range    | Units |
+===========+==========+=======+
| 0.01      | 0 to 5.0 | volt  |
+-----------+----------+-------+




.. _RSSI_CHANNEL:

RSSI\_CHANNEL: Receiver RSSI channel number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The channel number where RSSI will be output by the radio receiver \(5 and above\)\.


+---------+
| Range   |
+=========+
| 0 to 16 |
+---------+




.. _RSSI_CHAN_LOW:

RSSI\_CHAN\_LOW: RSSI PWM low value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers output inverted values so this value may be lower than RSSI\_CHAN\_HIGH


+-----------+---------------------+
| Range     | Units               |
+===========+=====================+
| 0 to 2000 | PWM in microseconds |
+-----------+---------------------+




.. _RSSI_CHAN_HIGH:

RSSI\_CHAN\_HIGH: Receiver RSSI PWM high value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers output inverted values so this value may be higher than RSSI\_CHAN\_LOW


+-----------+---------------------+
| Range     | Units               |
+===========+=====================+
| 0 to 2000 | PWM in microseconds |
+-----------+---------------------+





.. _parameters_SCHED_:

SCHED\_ Parameters
------------------


.. _SCHED_DEBUG:

SCHED\_DEBUG: Scheduler debug level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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


+-------+--------------+
| Value | Meaning      |
+=======+==============+
| 0     | Disabled     |
+-------+--------------+
| 2     | ShowSlips    |
+-------+--------------+
| 3     | ShowOverruns |
+-------+--------------+




.. _SCHED_LOOP_RATE:

SCHED\_LOOP\_RATE: Scheduling main loop rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This controls the rate of the main control loop in Hz\. This should only be changed by developers\. This only takes effect on restart\. Values over 400 are considered highly experimental\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 50    | 50Hz    |
+-------+---------+
| 100   | 100Hz   |
+-------+---------+
| 200   | 200Hz   |
+-------+---------+
| 250   | 250Hz   |
+-------+---------+
| 300   | 300Hz   |
+-------+---------+
| 400   | 400Hz   |
+-------+---------+




.. _SCHED_OPTIONS:

SCHED\_OPTIONS: Scheduling options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This controls optional aspects of the scheduler\.


+-----+---------------------------+
| Bit | Meaning                   |
+=====+===========================+
| 0   | Enable per-task perf info |
+-----+---------------------------+





.. _parameters_SCR_:

SCR\_ Parameters
----------------


.. _SCR_ENABLE:

SCR\_ENABLE: Enable Scripting
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Controls if scripting is enabled


+-------+-------------+
| Value | Meaning     |
+=======+=============+
| 0     | None        |
+-------+-------------+
| 1     | Lua Scripts |
+-------+-------------+




.. _SCR_VM_I_COUNT:

SCR\_VM\_I\_COUNT: Scripting Virtual Machine Instruction Count
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time


+-----------+-----------------+
| Increment | Range           |
+===========+=================+
| 10000     | 1000 to 1000000 |
+-----------+-----------------+




.. _SCR_HEAP_SIZE:

SCR\_HEAP\_SIZE: Scripting Heap Size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Amount of memory available for scripting


+-----------+-----------------+
| Increment | Range           |
+===========+=================+
| 1024      | 1024 to 1048576 |
+-----------+-----------------+




.. _SCR_DEBUG_OPTS:

SCR\_DEBUG\_OPTS: Scripting Debug Level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Debugging options


+-----+-------------------------------------------------------+
| Bit | Meaning                                               |
+=====+=======================================================+
| 0   | No Scripts to run message if all scripts have stopped |
+-----+-------------------------------------------------------+
| 1   | Runtime messages for memory usage and execution time  |
+-----+-------------------------------------------------------+
| 2   | Suppress logging scripts to dataflash                 |
+-----+-------------------------------------------------------+
| 3   | log runtime memory usage and execution time           |
+-----+-------------------------------------------------------+
| 4   | Disable pre-arm check                                 |
+-----+-------------------------------------------------------+




.. _SCR_USER1:

SCR\_USER1: Scripting User Parameter1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


General purpose user variable input for scripts


.. _SCR_USER2:

SCR\_USER2: Scripting User Parameter2
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


General purpose user variable input for scripts


.. _SCR_USER3:

SCR\_USER3: Scripting User Parameter3
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


General purpose user variable input for scripts


.. _SCR_USER4:

SCR\_USER4: Scripting User Parameter4
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


General purpose user variable input for scripts


.. _SCR_USER5:

SCR\_USER5: Scripting User Parameter5
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


General purpose user variable input for scripts


.. _SCR_USER6:

SCR\_USER6: Scripting User Parameter6
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


General purpose user variable input for scripts


.. _SCR_DIR_DISABLE:

SCR\_DIR\_DISABLE: Directory disable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This will stop scripts being loaded from the given locations


+-----+-------------+
| Bit | Meaning     |
+=====+=============+
| 0   | ROMFS       |
+-----+-------------+
| 1   | APM/scripts |
+-----+-------------+





.. _parameters_SERIAL:

SERIAL Parameters
-----------------


.. _SERIAL0_BAUD:

SERIAL0\_BAUD: Serial0 baud rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate used on the USB console\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL0_PROTOCOL:

SERIAL0\_PROTOCOL: Console protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol to use on the console\. 


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 1     | MAVlink1 |
+-------+----------+
| 2     | MAVLink2 |
+-------+----------+




.. _SERIAL1_PROTOCOL:

SERIAL1\_PROTOCOL: Telem1 protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol to use on the Telem1 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\.


+-------+----------------------------------+
| Value | Meaning                          |
+=======+==================================+
| -1    | None                             |
+-------+----------------------------------+
| 1     | MAVLink1                         |
+-------+----------------------------------+
| 2     | MAVLink2                         |
+-------+----------------------------------+
| 3     | Frsky D                          |
+-------+----------------------------------+
| 4     | Frsky SPort                      |
+-------+----------------------------------+
| 5     | GPS                              |
+-------+----------------------------------+
| 7     | Alexmos Gimbal Serial            |
+-------+----------------------------------+
| 8     | 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    | EFI Serial                       |
+-------+----------------------------------+
| 25    | LTM                              |
+-------+----------------------------------+
| 26    | RunCam                           |
+-------+----------------------------------+
| 27    | HottTelem                        |
+-------+----------------------------------+
| 28    | Scripting                        |
+-------+----------------------------------+
| 29    | Crossfire VTX                    |
+-------+----------------------------------+
| 30    | Generator                        |
+-------+----------------------------------+
| 31    | Winch                            |
+-------+----------------------------------+
| 32    | MSP                              |
+-------+----------------------------------+
| 33    | DJI FPV                          |
+-------+----------------------------------+
| 34    | AirSpeed                         |
+-------+----------------------------------+
| 35    | ADSB                             |
+-------+----------------------------------+
| 36    | AHRS                             |
+-------+----------------------------------+
| 37    | SmartAudio                       |
+-------+----------------------------------+
| 38    | FETtecOneWire                    |
+-------+----------------------------------+
| 39    | Torqeedo                         |
+-------+----------------------------------+
| 40    | AIS                              |
+-------+----------------------------------+
| 41    | CoDevESC                         |
+-------+----------------------------------+
| 42    | DisplayPort                      |
+-------+----------------------------------+
| 43    | MAVLink High Latency             |
+-------+----------------------------------+
| 44    | IRC Tramp                        |
+-------+----------------------------------+




.. _SERIAL1_BAUD:

SERIAL1\_BAUD: Telem1 Baud Rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate used on the Telem1 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL2_PROTOCOL:

SERIAL2\_PROTOCOL: Telemetry 2 protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol to use on the Telem2 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\.


+-------+----------------------------------+
| Value | Meaning                          |
+=======+==================================+
| -1    | None                             |
+-------+----------------------------------+
| 1     | MAVLink1                         |
+-------+----------------------------------+
| 2     | MAVLink2                         |
+-------+----------------------------------+
| 3     | Frsky D                          |
+-------+----------------------------------+
| 4     | Frsky SPort                      |
+-------+----------------------------------+
| 5     | GPS                              |
+-------+----------------------------------+
| 7     | Alexmos Gimbal Serial            |
+-------+----------------------------------+
| 8     | 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    | EFI Serial                       |
+-------+----------------------------------+
| 25    | LTM                              |
+-------+----------------------------------+
| 26    | RunCam                           |
+-------+----------------------------------+
| 27    | HottTelem                        |
+-------+----------------------------------+
| 28    | Scripting                        |
+-------+----------------------------------+
| 29    | Crossfire VTX                    |
+-------+----------------------------------+
| 30    | Generator                        |
+-------+----------------------------------+
| 31    | Winch                            |
+-------+----------------------------------+
| 32    | MSP                              |
+-------+----------------------------------+
| 33    | DJI FPV                          |
+-------+----------------------------------+
| 34    | AirSpeed                         |
+-------+----------------------------------+
| 35    | ADSB                             |
+-------+----------------------------------+
| 36    | AHRS                             |
+-------+----------------------------------+
| 37    | SmartAudio                       |
+-------+----------------------------------+
| 38    | FETtecOneWire                    |
+-------+----------------------------------+
| 39    | Torqeedo                         |
+-------+----------------------------------+
| 40    | AIS                              |
+-------+----------------------------------+
| 41    | CoDevESC                         |
+-------+----------------------------------+
| 42    | DisplayPort                      |
+-------+----------------------------------+
| 43    | MAVLink High Latency             |
+-------+----------------------------------+
| 44    | IRC Tramp                        |
+-------+----------------------------------+




.. _SERIAL2_BAUD:

SERIAL2\_BAUD: Telemetry 2 Baud Rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate of the Telem2 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL3_PROTOCOL:

SERIAL3\_PROTOCOL: Serial 3 \(GPS\) protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol Serial 3 \(GPS\) should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\.


+-------+----------------------------------+
| Value | Meaning                          |
+=======+==================================+
| -1    | None                             |
+-------+----------------------------------+
| 1     | MAVLink1                         |
+-------+----------------------------------+
| 2     | MAVLink2                         |
+-------+----------------------------------+
| 3     | Frsky D                          |
+-------+----------------------------------+
| 4     | Frsky SPort                      |
+-------+----------------------------------+
| 5     | GPS                              |
+-------+----------------------------------+
| 7     | Alexmos Gimbal Serial            |
+-------+----------------------------------+
| 8     | 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    | EFI Serial                       |
+-------+----------------------------------+
| 25    | LTM                              |
+-------+----------------------------------+
| 26    | RunCam                           |
+-------+----------------------------------+
| 27    | HottTelem                        |
+-------+----------------------------------+
| 28    | Scripting                        |
+-------+----------------------------------+
| 29    | Crossfire VTX                    |
+-------+----------------------------------+
| 30    | Generator                        |
+-------+----------------------------------+
| 31    | Winch                            |
+-------+----------------------------------+
| 32    | MSP                              |
+-------+----------------------------------+
| 33    | DJI FPV                          |
+-------+----------------------------------+
| 34    | AirSpeed                         |
+-------+----------------------------------+
| 35    | ADSB                             |
+-------+----------------------------------+
| 36    | AHRS                             |
+-------+----------------------------------+
| 37    | SmartAudio                       |
+-------+----------------------------------+
| 38    | FETtecOneWire                    |
+-------+----------------------------------+
| 39    | Torqeedo                         |
+-------+----------------------------------+
| 40    | AIS                              |
+-------+----------------------------------+
| 41    | CoDevESC                         |
+-------+----------------------------------+
| 42    | DisplayPort                      |
+-------+----------------------------------+
| 43    | MAVLink High Latency             |
+-------+----------------------------------+
| 44    | IRC Tramp                        |
+-------+----------------------------------+




.. _SERIAL3_BAUD:

SERIAL3\_BAUD: Serial 3 \(GPS\) Baud Rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate used for the Serial 3 \(GPS\)\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL4_PROTOCOL:

SERIAL4\_PROTOCOL: Serial4 protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol Serial4 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\.


+-------+----------------------------------+
| Value | Meaning                          |
+=======+==================================+
| -1    | None                             |
+-------+----------------------------------+
| 1     | MAVLink1                         |
+-------+----------------------------------+
| 2     | MAVLink2                         |
+-------+----------------------------------+
| 3     | Frsky D                          |
+-------+----------------------------------+
| 4     | Frsky SPort                      |
+-------+----------------------------------+
| 5     | GPS                              |
+-------+----------------------------------+
| 7     | Alexmos Gimbal Serial            |
+-------+----------------------------------+
| 8     | 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    | EFI Serial                       |
+-------+----------------------------------+
| 25    | LTM                              |
+-------+----------------------------------+
| 26    | RunCam                           |
+-------+----------------------------------+
| 27    | HottTelem                        |
+-------+----------------------------------+
| 28    | Scripting                        |
+-------+----------------------------------+
| 29    | Crossfire VTX                    |
+-------+----------------------------------+
| 30    | Generator                        |
+-------+----------------------------------+
| 31    | Winch                            |
+-------+----------------------------------+
| 32    | MSP                              |
+-------+----------------------------------+
| 33    | DJI FPV                          |
+-------+----------------------------------+
| 34    | AirSpeed                         |
+-------+----------------------------------+
| 35    | ADSB                             |
+-------+----------------------------------+
| 36    | AHRS                             |
+-------+----------------------------------+
| 37    | SmartAudio                       |
+-------+----------------------------------+
| 38    | FETtecOneWire                    |
+-------+----------------------------------+
| 39    | Torqeedo                         |
+-------+----------------------------------+
| 40    | AIS                              |
+-------+----------------------------------+
| 41    | CoDevESC                         |
+-------+----------------------------------+
| 42    | DisplayPort                      |
+-------+----------------------------------+
| 43    | MAVLink High Latency             |
+-------+----------------------------------+
| 44    | IRC Tramp                        |
+-------+----------------------------------+




.. _SERIAL4_BAUD:

SERIAL4\_BAUD: Serial 4 Baud Rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate used for Serial4\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL5_PROTOCOL:

SERIAL5\_PROTOCOL: Serial5 protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol Serial5 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\.


+-------+----------------------------------+
| Value | Meaning                          |
+=======+==================================+
| -1    | None                             |
+-------+----------------------------------+
| 1     | MAVLink1                         |
+-------+----------------------------------+
| 2     | MAVLink2                         |
+-------+----------------------------------+
| 3     | Frsky D                          |
+-------+----------------------------------+
| 4     | Frsky SPort                      |
+-------+----------------------------------+
| 5     | GPS                              |
+-------+----------------------------------+
| 7     | Alexmos Gimbal Serial            |
+-------+----------------------------------+
| 8     | 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    | EFI Serial                       |
+-------+----------------------------------+
| 25    | LTM                              |
+-------+----------------------------------+
| 26    | RunCam                           |
+-------+----------------------------------+
| 27    | HottTelem                        |
+-------+----------------------------------+
| 28    | Scripting                        |
+-------+----------------------------------+
| 29    | Crossfire VTX                    |
+-------+----------------------------------+
| 30    | Generator                        |
+-------+----------------------------------+
| 31    | Winch                            |
+-------+----------------------------------+
| 32    | MSP                              |
+-------+----------------------------------+
| 33    | DJI FPV                          |
+-------+----------------------------------+
| 34    | AirSpeed                         |
+-------+----------------------------------+
| 35    | ADSB                             |
+-------+----------------------------------+
| 36    | AHRS                             |
+-------+----------------------------------+
| 37    | SmartAudio                       |
+-------+----------------------------------+
| 38    | FETtecOneWire                    |
+-------+----------------------------------+
| 39    | Torqeedo                         |
+-------+----------------------------------+
| 40    | AIS                              |
+-------+----------------------------------+
| 41    | CoDevESC                         |
+-------+----------------------------------+
| 42    | DisplayPort                      |
+-------+----------------------------------+
| 43    | MAVLink High Latency             |
+-------+----------------------------------+
| 44    | IRC Tramp                        |
+-------+----------------------------------+




.. _SERIAL5_BAUD:

SERIAL5\_BAUD: Serial 5 Baud Rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate used for Serial5\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL6_PROTOCOL:

SERIAL6\_PROTOCOL: Serial6 protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol Serial6 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\.


+-------+----------------------------------+
| Value | Meaning                          |
+=======+==================================+
| -1    | None                             |
+-------+----------------------------------+
| 1     | MAVLink1                         |
+-------+----------------------------------+
| 2     | MAVLink2                         |
+-------+----------------------------------+
| 3     | Frsky D                          |
+-------+----------------------------------+
| 4     | Frsky SPort                      |
+-------+----------------------------------+
| 5     | GPS                              |
+-------+----------------------------------+
| 7     | Alexmos Gimbal Serial            |
+-------+----------------------------------+
| 8     | 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    | EFI Serial                       |
+-------+----------------------------------+
| 25    | LTM                              |
+-------+----------------------------------+
| 26    | RunCam                           |
+-------+----------------------------------+
| 27    | HottTelem                        |
+-------+----------------------------------+
| 28    | Scripting                        |
+-------+----------------------------------+
| 29    | Crossfire VTX                    |
+-------+----------------------------------+
| 30    | Generator                        |
+-------+----------------------------------+
| 31    | Winch                            |
+-------+----------------------------------+
| 32    | MSP                              |
+-------+----------------------------------+
| 33    | DJI FPV                          |
+-------+----------------------------------+
| 34    | AirSpeed                         |
+-------+----------------------------------+
| 35    | ADSB                             |
+-------+----------------------------------+
| 36    | AHRS                             |
+-------+----------------------------------+
| 37    | SmartAudio                       |
+-------+----------------------------------+
| 38    | FETtecOneWire                    |
+-------+----------------------------------+
| 39    | Torqeedo                         |
+-------+----------------------------------+
| 40    | AIS                              |
+-------+----------------------------------+
| 41    | CoDevESC                         |
+-------+----------------------------------+
| 42    | DisplayPort                      |
+-------+----------------------------------+
| 43    | MAVLink High Latency             |
+-------+----------------------------------+
| 44    | IRC Tramp                        |
+-------+----------------------------------+




.. _SERIAL6_BAUD:

SERIAL6\_BAUD: Serial 6 Baud Rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate used for Serial6\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL1_OPTIONS:

SERIAL1\_OPTIONS: Telem1 options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 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 |
+-----+-------------------------------+
| 11  | DisableFIFO                   |
+-----+-------------------------------+
| 12  | Ignore Streamrate             |
+-----+-------------------------------+




.. _SERIAL2_OPTIONS:

SERIAL2\_OPTIONS: Telem2 options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 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 |
+-----+-------------------------------+
| 11  | DisableFIFO                   |
+-----+-------------------------------+
| 12  | Ignore Streamrate             |
+-----+-------------------------------+




.. _SERIAL3_OPTIONS:

SERIAL3\_OPTIONS: Serial3 options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 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 |
+-----+-------------------------------+
| 11  | DisableFIFO                   |
+-----+-------------------------------+
| 12  | Ignore Streamrate             |
+-----+-------------------------------+




.. _SERIAL4_OPTIONS:

SERIAL4\_OPTIONS: Serial4 options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 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 |
+-----+-------------------------------+
| 11  | DisableFIFO                   |
+-----+-------------------------------+
| 12  | Ignore Streamrate             |
+-----+-------------------------------+




.. _SERIAL5_OPTIONS:

SERIAL5\_OPTIONS: Serial5 options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 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 |
+-----+-------------------------------+
| 11  | DisableFIFO                   |
+-----+-------------------------------+
| 12  | Ignore Streamrate             |
+-----+-------------------------------+




.. _SERIAL6_OPTIONS:

SERIAL6\_OPTIONS: Serial6 options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 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 |
+-----+-------------------------------+
| 11  | DisableFIFO                   |
+-----+-------------------------------+
| 12  | Ignore Streamrate             |
+-----+-------------------------------+




.. _SERIAL_PASS1:

SERIAL\_PASS1: Serial passthru first port
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port


+-------+----------+
| Value | Meaning  |
+=======+==========+
| -1    | Disabled |
+-------+----------+
| 0     | Serial0  |
+-------+----------+
| 1     | Serial1  |
+-------+----------+
| 2     | Serial2  |
+-------+----------+
| 3     | Serial3  |
+-------+----------+
| 4     | Serial4  |
+-------+----------+
| 5     | Serial5  |
+-------+----------+
| 6     | Serial6  |
+-------+----------+




.. _SERIAL_PASS2:

SERIAL\_PASS2: Serial passthru second port
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port


+-------+----------+
| Value | Meaning  |
+=======+==========+
| -1    | Disabled |
+-------+----------+
| 0     | Serial0  |
+-------+----------+
| 1     | Serial1  |
+-------+----------+
| 2     | Serial2  |
+-------+----------+
| 3     | Serial3  |
+-------+----------+
| 4     | Serial4  |
+-------+----------+
| 5     | Serial5  |
+-------+----------+
| 6     | Serial6  |
+-------+----------+




.. _SERIAL_PASSTIMO:

SERIAL\_PASSTIMO: Serial passthru timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets a timeout for serial pass\-through in seconds\. When the pass\-through is enabled by setting the SERIAL\_PASS1 and SERIAL\_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL\_PASSTIMO seconds\. This allows the port to revent to its normal usage \(such as MAVLink connection to a GCS\) when it is no longer needed\. A value of 0 means no timeout\.


+----------+---------+
| Range    | Units   |
+==========+=========+
| 0 to 120 | seconds |
+----------+---------+




.. _SERIAL7_PROTOCOL:

SERIAL7\_PROTOCOL: Serial7 protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol Serial7 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\.


+-------+----------------------------------+
| Value | Meaning                          |
+=======+==================================+
| -1    | None                             |
+-------+----------------------------------+
| 1     | MAVLink1                         |
+-------+----------------------------------+
| 2     | MAVLink2                         |
+-------+----------------------------------+
| 3     | Frsky D                          |
+-------+----------------------------------+
| 4     | Frsky SPort                      |
+-------+----------------------------------+
| 5     | GPS                              |
+-------+----------------------------------+
| 7     | Alexmos Gimbal Serial            |
+-------+----------------------------------+
| 8     | 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    | EFI Serial                       |
+-------+----------------------------------+
| 25    | LTM                              |
+-------+----------------------------------+
| 26    | RunCam                           |
+-------+----------------------------------+
| 27    | HottTelem                        |
+-------+----------------------------------+
| 28    | Scripting                        |
+-------+----------------------------------+
| 29    | Crossfire VTX                    |
+-------+----------------------------------+
| 30    | Generator                        |
+-------+----------------------------------+
| 31    | Winch                            |
+-------+----------------------------------+
| 32    | MSP                              |
+-------+----------------------------------+
| 33    | DJI FPV                          |
+-------+----------------------------------+
| 34    | AirSpeed                         |
+-------+----------------------------------+
| 35    | ADSB                             |
+-------+----------------------------------+
| 36    | AHRS                             |
+-------+----------------------------------+
| 37    | SmartAudio                       |
+-------+----------------------------------+
| 38    | FETtecOneWire                    |
+-------+----------------------------------+
| 39    | Torqeedo                         |
+-------+----------------------------------+
| 40    | AIS                              |
+-------+----------------------------------+
| 41    | CoDevESC                         |
+-------+----------------------------------+
| 42    | DisplayPort                      |
+-------+----------------------------------+
| 43    | MAVLink High Latency             |
+-------+----------------------------------+
| 44    | IRC Tramp                        |
+-------+----------------------------------+




.. _SERIAL7_BAUD:

SERIAL7\_BAUD: Serial 7 Baud Rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate used for Serial7\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL7_OPTIONS:

SERIAL7\_OPTIONS: Serial7 options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 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 |
+-----+-------------------------------+
| 11  | DisableFIFO                   |
+-----+-------------------------------+
| 12  | Ignore Streamrate             |
+-----+-------------------------------+




.. _SERIAL8_PROTOCOL:

SERIAL8\_PROTOCOL: Serial8 protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol Serial8 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\.


+-------+----------------------------------+
| Value | Meaning                          |
+=======+==================================+
| -1    | None                             |
+-------+----------------------------------+
| 1     | MAVLink1                         |
+-------+----------------------------------+
| 2     | MAVLink2                         |
+-------+----------------------------------+
| 3     | Frsky D                          |
+-------+----------------------------------+
| 4     | Frsky SPort                      |
+-------+----------------------------------+
| 5     | GPS                              |
+-------+----------------------------------+
| 7     | Alexmos Gimbal Serial            |
+-------+----------------------------------+
| 8     | 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    | EFI Serial                       |
+-------+----------------------------------+
| 25    | LTM                              |
+-------+----------------------------------+
| 26    | RunCam                           |
+-------+----------------------------------+
| 27    | HottTelem                        |
+-------+----------------------------------+
| 28    | Scripting                        |
+-------+----------------------------------+
| 29    | Crossfire VTX                    |
+-------+----------------------------------+
| 30    | Generator                        |
+-------+----------------------------------+
| 31    | Winch                            |
+-------+----------------------------------+
| 32    | MSP                              |
+-------+----------------------------------+
| 33    | DJI FPV                          |
+-------+----------------------------------+
| 34    | AirSpeed                         |
+-------+----------------------------------+
| 35    | ADSB                             |
+-------+----------------------------------+
| 36    | AHRS                             |
+-------+----------------------------------+
| 37    | SmartAudio                       |
+-------+----------------------------------+
| 38    | FETtecOneWire                    |
+-------+----------------------------------+
| 39    | Torqeedo                         |
+-------+----------------------------------+
| 40    | AIS                              |
+-------+----------------------------------+
| 41    | CoDevESC                         |
+-------+----------------------------------+
| 42    | DisplayPort                      |
+-------+----------------------------------+
| 43    | MAVLink High Latency             |
+-------+----------------------------------+
| 44    | IRC Tramp                        |
+-------+----------------------------------+




.. _SERIAL8_BAUD:

SERIAL8\_BAUD: Serial 8 Baud Rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL8_OPTIONS:

SERIAL8\_OPTIONS: Serial8 options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 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 |
+-----+-------------------------------+
| 11  | DisableFIFO                   |
+-----+-------------------------------+
| 12  | Ignore Streamrate             |
+-----+-------------------------------+




.. _SERIAL9_PROTOCOL:

SERIAL9\_PROTOCOL: Serial9 protocol selection
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Control what protocol Serial9 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\.


+-------+----------------------------------+
| Value | Meaning                          |
+=======+==================================+
| -1    | None                             |
+-------+----------------------------------+
| 1     | MAVLink1                         |
+-------+----------------------------------+
| 2     | MAVLink2                         |
+-------+----------------------------------+
| 3     | Frsky D                          |
+-------+----------------------------------+
| 4     | Frsky SPort                      |
+-------+----------------------------------+
| 5     | GPS                              |
+-------+----------------------------------+
| 7     | Alexmos Gimbal Serial            |
+-------+----------------------------------+
| 8     | 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    | EFI Serial                       |
+-------+----------------------------------+
| 25    | LTM                              |
+-------+----------------------------------+
| 26    | RunCam                           |
+-------+----------------------------------+
| 27    | HottTelem                        |
+-------+----------------------------------+
| 28    | Scripting                        |
+-------+----------------------------------+
| 29    | Crossfire VTX                    |
+-------+----------------------------------+
| 30    | Generator                        |
+-------+----------------------------------+
| 31    | Winch                            |
+-------+----------------------------------+
| 32    | MSP                              |
+-------+----------------------------------+
| 33    | DJI FPV                          |
+-------+----------------------------------+
| 34    | AirSpeed                         |
+-------+----------------------------------+
| 35    | ADSB                             |
+-------+----------------------------------+
| 36    | AHRS                             |
+-------+----------------------------------+
| 37    | SmartAudio                       |
+-------+----------------------------------+
| 38    | FETtecOneWire                    |
+-------+----------------------------------+
| 39    | Torqeedo                         |
+-------+----------------------------------+
| 40    | AIS                              |
+-------+----------------------------------+
| 41    | CoDevESC                         |
+-------+----------------------------------+
| 42    | DisplayPort                      |
+-------+----------------------------------+
| 43    | MAVLink High Latency             |
+-------+----------------------------------+
| 44    | IRC Tramp                        |
+-------+----------------------------------+




.. _SERIAL9_BAUD:

SERIAL9\_BAUD: Serial 9 Baud Rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\.


+-------+---------+
| Value | Meaning |
+=======+=========+
| 1     | 1200    |
+-------+---------+
| 2     | 2400    |
+-------+---------+
| 4     | 4800    |
+-------+---------+
| 9     | 9600    |
+-------+---------+
| 19    | 19200   |
+-------+---------+
| 38    | 38400   |
+-------+---------+
| 57    | 57600   |
+-------+---------+
| 111   | 111100  |
+-------+---------+
| 115   | 115200  |
+-------+---------+
| 230   | 230400  |
+-------+---------+
| 256   | 256000  |
+-------+---------+
| 460   | 460800  |
+-------+---------+
| 500   | 500000  |
+-------+---------+
| 921   | 921600  |
+-------+---------+
| 1500  | 1500000 |
+-------+---------+




.. _SERIAL9_OPTIONS:

SERIAL9\_OPTIONS: Serial9 options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\.


+-----+-------------------------------+
| Bit | Meaning                       |
+=====+===============================+
| 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 |
+-----+-------------------------------+
| 11  | DisableFIFO                   |
+-----+-------------------------------+
| 12  | Ignore Streamrate             |
+-----+-------------------------------+





.. _parameters_SERVO:

SERVO Parameters
----------------


.. _SERVO_RATE:

SERVO\_RATE: Servo default output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the default output rate in Hz for all outputs\.


+-----------+-------+
| Range     | Units |
+===========+=======+
| 25 to 400 | hertz |
+-----------+-------+




.. _SERVO_DSHOT_RATE:

SERVO\_DSHOT\_RATE: Servo DShot output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

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\.


+-------+---------------------+
| Value | Meaning             |
+=======+=====================+
| 0     | 1Khz                |
+-------+---------------------+
| 1     | loop-rate           |
+-------+---------------------+
| 2     | double loop-rate    |
+-------+---------------------+
| 3     | triple loop-rate    |
+-------+---------------------+
| 4     | quadruple loop rate |
+-------+---------------------+




.. _SERVO_DSHOT_ESC:

SERVO\_DSHOT\_ESC: Servo DShot ESC type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the DShot ESC type for all outputs\. The ESC type affects the range of DShot commands available\. None means that no dshot commands will be executed\.


+-------+---------------+
| Value | Meaning       |
+=======+===============+
| 0     | None          |
+-------+---------------+
| 1     | BLHeli32/Kiss |
+-------+---------------+
| 2     | BLHeli_S      |
+-------+---------------+




.. _SERVO_GPIO_MASK:

SERVO\_GPIO\_MASK: Servo GPIO mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This sets a bitmask of outputs which will be available as GPIOs\. Any output with either the function set to \-1 or with the corresponding bit set in this mask will be available for use as a GPIO pin


+-----+----------+
| Bit | Meaning  |
+=====+==========+
| 0   | Servo 1  |
+-----+----------+
| 1   | Servo 2  |
+-----+----------+
| 2   | Servo 3  |
+-----+----------+
| 3   | Servo 4  |
+-----+----------+
| 4   | Servo 5  |
+-----+----------+
| 5   | Servo 6  |
+-----+----------+
| 6   | Servo 7  |
+-----+----------+
| 7   | Servo 8  |
+-----+----------+
| 8   | Servo 9  |
+-----+----------+
| 9   | Servo 10 |
+-----+----------+
| 10  | Servo 11 |
+-----+----------+
| 11  | Servo 12 |
+-----+----------+
| 12  | Servo 13 |
+-----+----------+
| 13  | Servo 14 |
+-----+----------+
| 14  | Servo 15 |
+-----+----------+
| 15  | Servo 16 |
+-----+----------+
| 16  | Servo 17 |
+-----+----------+
| 17  | Servo 18 |
+-----+----------+
| 18  | Servo 19 |
+-----+----------+
| 19  | Servo 20 |
+-----+----------+
| 20  | Servo 21 |
+-----+----------+
| 21  | Servo 22 |
+-----+----------+
| 22  | Servo 23 |
+-----+----------+
| 23  | Servo 24 |
+-----+----------+
| 24  | Servo 25 |
+-----+----------+
| 25  | Servo 26 |
+-----+----------+
| 26  | Servo 27 |
+-----+----------+
| 27  | Servo 28 |
+-----+----------+
| 28  | Servo 29 |
+-----+----------+
| 29  | Servo 30 |
+-----+----------+
| 30  | Servo 31 |
+-----+----------+
| 31  | Servo 32 |
+-----+----------+




.. _SERVO_32_ENABLE:

SERVO\_32\_ENABLE: Enable outputs 17 to 31
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This allows for up to 32 outputs\, enabling parameters for outputs above 16


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+





.. _parameters_SERVO10_:

SERVO10\_ Parameters
--------------------


.. _SERVO10_MIN:

SERVO10\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO10_MAX:

SERVO10\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO10_TRIM:

SERVO10\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO10_REVERSED:

SERVO10\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO10_FUNCTION:

SERVO10\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO11_:

SERVO11\_ Parameters
--------------------


.. _SERVO11_MIN:

SERVO11\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO11_MAX:

SERVO11\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO11_TRIM:

SERVO11\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO11_REVERSED:

SERVO11\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO11_FUNCTION:

SERVO11\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO12_:

SERVO12\_ Parameters
--------------------


.. _SERVO12_MIN:

SERVO12\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO12_MAX:

SERVO12\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO12_TRIM:

SERVO12\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO12_REVERSED:

SERVO12\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO12_FUNCTION:

SERVO12\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO13_:

SERVO13\_ Parameters
--------------------


.. _SERVO13_MIN:

SERVO13\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO13_MAX:

SERVO13\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO13_TRIM:

SERVO13\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO13_REVERSED:

SERVO13\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO13_FUNCTION:

SERVO13\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO14_:

SERVO14\_ Parameters
--------------------


.. _SERVO14_MIN:

SERVO14\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO14_MAX:

SERVO14\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO14_TRIM:

SERVO14\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO14_REVERSED:

SERVO14\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO14_FUNCTION:

SERVO14\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO15_:

SERVO15\_ Parameters
--------------------


.. _SERVO15_MIN:

SERVO15\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO15_MAX:

SERVO15\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO15_TRIM:

SERVO15\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO15_REVERSED:

SERVO15\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO15_FUNCTION:

SERVO15\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO16_:

SERVO16\_ Parameters
--------------------


.. _SERVO16_MIN:

SERVO16\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO16_MAX:

SERVO16\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO16_TRIM:

SERVO16\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO16_REVERSED:

SERVO16\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO16_FUNCTION:

SERVO16\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO17_:

SERVO17\_ Parameters
--------------------


.. _SERVO17_MIN:

SERVO17\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO17_MAX:

SERVO17\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO17_TRIM:

SERVO17\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO17_REVERSED:

SERVO17\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO17_FUNCTION:

SERVO17\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO18_:

SERVO18\_ Parameters
--------------------


.. _SERVO18_MIN:

SERVO18\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO18_MAX:

SERVO18\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO18_TRIM:

SERVO18\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO18_REVERSED:

SERVO18\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO18_FUNCTION:

SERVO18\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO19_:

SERVO19\_ Parameters
--------------------


.. _SERVO19_MIN:

SERVO19\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO19_MAX:

SERVO19\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO19_TRIM:

SERVO19\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO19_REVERSED:

SERVO19\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO19_FUNCTION:

SERVO19\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO1_:

SERVO1\_ Parameters
-------------------


.. _SERVO1_MIN:

SERVO1\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO1_MAX:

SERVO1\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO1_TRIM:

SERVO1\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO1_REVERSED:

SERVO1\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO1_FUNCTION:

SERVO1\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO20_:

SERVO20\_ Parameters
--------------------


.. _SERVO20_MIN:

SERVO20\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO20_MAX:

SERVO20\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO20_TRIM:

SERVO20\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO20_REVERSED:

SERVO20\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO20_FUNCTION:

SERVO20\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO21_:

SERVO21\_ Parameters
--------------------


.. _SERVO21_MIN:

SERVO21\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO21_MAX:

SERVO21\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO21_TRIM:

SERVO21\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO21_REVERSED:

SERVO21\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO21_FUNCTION:

SERVO21\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO22_:

SERVO22\_ Parameters
--------------------


.. _SERVO22_MIN:

SERVO22\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO22_MAX:

SERVO22\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO22_TRIM:

SERVO22\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO22_REVERSED:

SERVO22\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO22_FUNCTION:

SERVO22\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO23_:

SERVO23\_ Parameters
--------------------


.. _SERVO23_MIN:

SERVO23\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO23_MAX:

SERVO23\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO23_TRIM:

SERVO23\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO23_REVERSED:

SERVO23\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO23_FUNCTION:

SERVO23\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO24_:

SERVO24\_ Parameters
--------------------


.. _SERVO24_MIN:

SERVO24\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO24_MAX:

SERVO24\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO24_TRIM:

SERVO24\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO24_REVERSED:

SERVO24\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO24_FUNCTION:

SERVO24\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO25_:

SERVO25\_ Parameters
--------------------


.. _SERVO25_MIN:

SERVO25\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO25_MAX:

SERVO25\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO25_TRIM:

SERVO25\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO25_REVERSED:

SERVO25\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO25_FUNCTION:

SERVO25\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO26_:

SERVO26\_ Parameters
--------------------


.. _SERVO26_MIN:

SERVO26\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO26_MAX:

SERVO26\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO26_TRIM:

SERVO26\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO26_REVERSED:

SERVO26\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO26_FUNCTION:

SERVO26\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO27_:

SERVO27\_ Parameters
--------------------


.. _SERVO27_MIN:

SERVO27\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO27_MAX:

SERVO27\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO27_TRIM:

SERVO27\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO27_REVERSED:

SERVO27\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO27_FUNCTION:

SERVO27\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO28_:

SERVO28\_ Parameters
--------------------


.. _SERVO28_MIN:

SERVO28\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO28_MAX:

SERVO28\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO28_TRIM:

SERVO28\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO28_REVERSED:

SERVO28\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO28_FUNCTION:

SERVO28\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO29_:

SERVO29\_ Parameters
--------------------


.. _SERVO29_MIN:

SERVO29\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO29_MAX:

SERVO29\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO29_TRIM:

SERVO29\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO29_REVERSED:

SERVO29\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO29_FUNCTION:

SERVO29\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO2_:

SERVO2\_ Parameters
-------------------


.. _SERVO2_MIN:

SERVO2\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO2_MAX:

SERVO2\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO2_TRIM:

SERVO2\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO2_REVERSED:

SERVO2\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO2_FUNCTION:

SERVO2\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO30_:

SERVO30\_ Parameters
--------------------


.. _SERVO30_MIN:

SERVO30\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO30_MAX:

SERVO30\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO30_TRIM:

SERVO30\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO30_REVERSED:

SERVO30\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO30_FUNCTION:

SERVO30\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO31_:

SERVO31\_ Parameters
--------------------


.. _SERVO31_MIN:

SERVO31\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO31_MAX:

SERVO31\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO31_TRIM:

SERVO31\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO31_REVERSED:

SERVO31\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO31_FUNCTION:

SERVO31\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO32_:

SERVO32\_ Parameters
--------------------


.. _SERVO32_MIN:

SERVO32\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO32_MAX:

SERVO32\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO32_TRIM:

SERVO32\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO32_REVERSED:

SERVO32\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO32_FUNCTION:

SERVO32\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO3_:

SERVO3\_ Parameters
-------------------


.. _SERVO3_MIN:

SERVO3\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO3_MAX:

SERVO3\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO3_TRIM:

SERVO3\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO3_REVERSED:

SERVO3\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO3_FUNCTION:

SERVO3\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO4_:

SERVO4\_ Parameters
-------------------


.. _SERVO4_MIN:

SERVO4\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO4_MAX:

SERVO4\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO4_TRIM:

SERVO4\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO4_REVERSED:

SERVO4\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO4_FUNCTION:

SERVO4\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO5_:

SERVO5\_ Parameters
-------------------


.. _SERVO5_MIN:

SERVO5\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO5_MAX:

SERVO5\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO5_TRIM:

SERVO5\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO5_REVERSED:

SERVO5\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO5_FUNCTION:

SERVO5\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO6_:

SERVO6\_ Parameters
-------------------


.. _SERVO6_MIN:

SERVO6\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO6_MAX:

SERVO6\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO6_TRIM:

SERVO6\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO6_REVERSED:

SERVO6\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO6_FUNCTION:

SERVO6\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO7_:

SERVO7\_ Parameters
-------------------


.. _SERVO7_MIN:

SERVO7\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO7_MAX:

SERVO7\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO7_TRIM:

SERVO7\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO7_REVERSED:

SERVO7\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO7_FUNCTION:

SERVO7\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO8_:

SERVO8\_ Parameters
-------------------


.. _SERVO8_MIN:

SERVO8\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO8_MAX:

SERVO8\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO8_TRIM:

SERVO8\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO8_REVERSED:

SERVO8\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO8_FUNCTION:

SERVO8\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO9_:

SERVO9\_ Parameters
-------------------


.. _SERVO9_MIN:

SERVO9\_MIN: Minimum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO9_MAX:

SERVO9\_MAX: Maximum PWM
~~~~~~~~~~~~~~~~~~~~~~~~


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


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO9_TRIM:

SERVO9\_TRIM: Trim PWM
~~~~~~~~~~~~~~~~~~~~~~


Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\.


+-----------+-------------+---------------------+
| Increment | Range       | Units               |
+===========+=============+=====================+
| 1         | 800 to 2200 | PWM in microseconds |
+-----------+-------------+---------------------+




.. _SERVO9_REVERSED:

SERVO9\_REVERSED: Servo reverse
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Normal   |
+-------+----------+
| 1     | Reversed |
+-------+----------+




.. _SERVO9_FUNCTION:

SERVO9\_FUNCTION: Servo output function
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

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


+-------+---------------------------+
| Value | Meaning                   |
+=======+===========================+
| -1    | GPIO                      |
+-------+---------------------------+
| 0     | Disabled                  |
+-------+---------------------------+
| 1     | RCPassThru                |
+-------+---------------------------+
| 2     | Flap                      |
+-------+---------------------------+
| 3     | FlapAuto                  |
+-------+---------------------------+
| 4     | Aileron                   |
+-------+---------------------------+
| 6     | Mount1Yaw                 |
+-------+---------------------------+
| 7     | Mount1Pitch               |
+-------+---------------------------+
| 8     | Mount1Roll                |
+-------+---------------------------+
| 9     | Mount1Retract             |
+-------+---------------------------+
| 10    | CameraTrigger             |
+-------+---------------------------+
| 12    | Mount2Yaw                 |
+-------+---------------------------+
| 13    | Mount2Pitch               |
+-------+---------------------------+
| 14    | Mount2Roll                |
+-------+---------------------------+
| 15    | Mount2Retract             |
+-------+---------------------------+
| 16    | DifferentialSpoilerLeft1  |
+-------+---------------------------+
| 17    | DifferentialSpoilerRight1 |
+-------+---------------------------+
| 19    | Elevator                  |
+-------+---------------------------+
| 21    | Rudder                    |
+-------+---------------------------+
| 22    | SprayerPump               |
+-------+---------------------------+
| 23    | SprayerSpinner            |
+-------+---------------------------+
| 24    | FlaperonLeft              |
+-------+---------------------------+
| 25    | FlaperonRight             |
+-------+---------------------------+
| 26    | GroundSteering            |
+-------+---------------------------+
| 27    | Parachute                 |
+-------+---------------------------+
| 28    | Gripper                   |
+-------+---------------------------+
| 29    | LandingGear               |
+-------+---------------------------+
| 30    | EngineRunEnable           |
+-------+---------------------------+
| 31    | HeliRSC                   |
+-------+---------------------------+
| 32    | HeliTailRSC               |
+-------+---------------------------+
| 33    | Motor1                    |
+-------+---------------------------+
| 34    | Motor2                    |
+-------+---------------------------+
| 35    | Motor3                    |
+-------+---------------------------+
| 36    | Motor4                    |
+-------+---------------------------+
| 37    | Motor5                    |
+-------+---------------------------+
| 38    | Motor6                    |
+-------+---------------------------+
| 39    | Motor7                    |
+-------+---------------------------+
| 40    | Motor8                    |
+-------+---------------------------+
| 41    | TiltMotorsFront           |
+-------+---------------------------+
| 45    | TiltMotorsRear            |
+-------+---------------------------+
| 46    | TiltMotorRearLeft         |
+-------+---------------------------+
| 47    | TiltMotorRearRight        |
+-------+---------------------------+
| 51    | RCIN1                     |
+-------+---------------------------+
| 52    | RCIN2                     |
+-------+---------------------------+
| 53    | RCIN3                     |
+-------+---------------------------+
| 54    | RCIN4                     |
+-------+---------------------------+
| 55    | RCIN5                     |
+-------+---------------------------+
| 56    | RCIN6                     |
+-------+---------------------------+
| 57    | RCIN7                     |
+-------+---------------------------+
| 58    | RCIN8                     |
+-------+---------------------------+
| 59    | RCIN9                     |
+-------+---------------------------+
| 60    | RCIN10                    |
+-------+---------------------------+
| 61    | RCIN11                    |
+-------+---------------------------+
| 62    | RCIN12                    |
+-------+---------------------------+
| 63    | RCIN13                    |
+-------+---------------------------+
| 64    | RCIN14                    |
+-------+---------------------------+
| 65    | RCIN15                    |
+-------+---------------------------+
| 66    | RCIN16                    |
+-------+---------------------------+
| 67    | Ignition                  |
+-------+---------------------------+
| 69    | Starter                   |
+-------+---------------------------+
| 70    | Throttle                  |
+-------+---------------------------+
| 71    | TrackerYaw                |
+-------+---------------------------+
| 72    | TrackerPitch              |
+-------+---------------------------+
| 73    | ThrottleLeft              |
+-------+---------------------------+
| 74    | ThrottleRight             |
+-------+---------------------------+
| 75    | TiltMotorFrontLeft        |
+-------+---------------------------+
| 76    | TiltMotorFrontRight       |
+-------+---------------------------+
| 77    | ElevonLeft                |
+-------+---------------------------+
| 78    | ElevonRight               |
+-------+---------------------------+
| 79    | VTailLeft                 |
+-------+---------------------------+
| 80    | VTailRight                |
+-------+---------------------------+
| 81    | BoostThrottle             |
+-------+---------------------------+
| 82    | Motor9                    |
+-------+---------------------------+
| 83    | Motor10                   |
+-------+---------------------------+
| 84    | Motor11                   |
+-------+---------------------------+
| 85    | Motor12                   |
+-------+---------------------------+
| 86    | DifferentialSpoilerLeft2  |
+-------+---------------------------+
| 87    | DifferentialSpoilerRight2 |
+-------+---------------------------+
| 88    | Winch                     |
+-------+---------------------------+
| 89    | Main Sail                 |
+-------+---------------------------+
| 90    | CameraISO                 |
+-------+---------------------------+
| 91    | CameraAperture            |
+-------+---------------------------+
| 92    | CameraFocus               |
+-------+---------------------------+
| 93    | CameraShutterSpeed        |
+-------+---------------------------+
| 94    | Script1                   |
+-------+---------------------------+
| 95    | Script2                   |
+-------+---------------------------+
| 96    | Script3                   |
+-------+---------------------------+
| 97    | Script4                   |
+-------+---------------------------+
| 98    | Script5                   |
+-------+---------------------------+
| 99    | Script6                   |
+-------+---------------------------+
| 100   | Script7                   |
+-------+---------------------------+
| 101   | Script8                   |
+-------+---------------------------+
| 102   | Script9                   |
+-------+---------------------------+
| 103   | Script10                  |
+-------+---------------------------+
| 104   | Script11                  |
+-------+---------------------------+
| 105   | Script12                  |
+-------+---------------------------+
| 106   | Script13                  |
+-------+---------------------------+
| 107   | Script14                  |
+-------+---------------------------+
| 108   | Script15                  |
+-------+---------------------------+
| 109   | Script16                  |
+-------+---------------------------+
| 120   | NeoPixel1                 |
+-------+---------------------------+
| 121   | NeoPixel2                 |
+-------+---------------------------+
| 122   | NeoPixel3                 |
+-------+---------------------------+
| 123   | NeoPixel4                 |
+-------+---------------------------+
| 124   | RateRoll                  |
+-------+---------------------------+
| 125   | RatePitch                 |
+-------+---------------------------+
| 126   | RateThrust                |
+-------+---------------------------+
| 127   | RateYaw                   |
+-------+---------------------------+
| 128   | WingSailElevator          |
+-------+---------------------------+
| 129   | ProfiLED1                 |
+-------+---------------------------+
| 130   | ProfiLED2                 |
+-------+---------------------------+
| 131   | ProfiLED3                 |
+-------+---------------------------+
| 132   | ProfiLEDClock             |
+-------+---------------------------+
| 133   | Winch Clutch              |
+-------+---------------------------+
| 134   | SERVOn_MIN                |
+-------+---------------------------+
| 135   | SERVOn_TRIM               |
+-------+---------------------------+
| 136   | SERVOn_MAX                |
+-------+---------------------------+
| 137   | SailMastRotation          |
+-------+---------------------------+
| 138   | Alarm                     |
+-------+---------------------------+
| 139   | Alarm Inverted            |
+-------+---------------------------+
| 140   | RCIN1Scaled               |
+-------+---------------------------+
| 141   | RCIN2Scaled               |
+-------+---------------------------+
| 142   | RCIN3Scaled               |
+-------+---------------------------+
| 143   | RCIN4Scaled               |
+-------+---------------------------+
| 144   | RCIN5Scaled               |
+-------+---------------------------+
| 145   | RCIN6Scaled               |
+-------+---------------------------+
| 146   | RCIN7Scaled               |
+-------+---------------------------+
| 147   | RCIN8Scaled               |
+-------+---------------------------+
| 148   | RCIN9Scaled               |
+-------+---------------------------+
| 149   | RCIN10Scaled              |
+-------+---------------------------+
| 150   | RCIN11Scaled              |
+-------+---------------------------+
| 151   | RCIN12Scaled              |
+-------+---------------------------+
| 152   | RCIN13Scaled              |
+-------+---------------------------+
| 153   | RCIN14Scaled              |
+-------+---------------------------+
| 154   | RCIN15Scaled              |
+-------+---------------------------+
| 155   | RCIN16Scaled              |
+-------+---------------------------+





.. _parameters_SERVO_BLH_:

SERVO\_BLH\_ Parameters
-----------------------


.. _SERVO_BLH_MASK:

SERVO\_BLH\_MASK: BLHeli Channel Bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Enable of BLHeli pass\-thru servo protocol support to specific channels\. This mask is in addition to motors enabled using SERVO\_BLH\_AUTO \(if any\)


+-----+------------+
| Bit | Meaning    |
+=====+============+
| 0   | Channel1   |
+-----+------------+
| 1   | Channel2   |
+-----+------------+
| 2   | Channel3   |
+-----+------------+
| 3   | Channel4   |
+-----+------------+
| 4   | Channel5   |
+-----+------------+
| 5   | Channel6   |
+-----+------------+
| 6   | Channel7   |
+-----+------------+
| 7   | Channel8   |
+-----+------------+
| 8   | Channel9   |
+-----+------------+
| 9   | Channel10  |
+-----+------------+
| 10  | Channel11  |
+-----+------------+
| 11  | Channel12  |
+-----+------------+
| 12  | Channel13  |
+-----+------------+
| 13  | Channel14  |
+-----+------------+
| 14  | Channel15  |
+-----+------------+
| 15  | Channel16  |
+-----+------------+
| 16  | Channel 17 |
+-----+------------+
| 17  | Channel 18 |
+-----+------------+
| 18  | Channel 19 |
+-----+------------+
| 19  | Channel 20 |
+-----+------------+
| 20  | Channel 21 |
+-----+------------+
| 21  | Channel 22 |
+-----+------------+
| 22  | Channel 23 |
+-----+------------+
| 23  | Channel 24 |
+-----+------------+
| 24  | Channel 25 |
+-----+------------+
| 25  | Channel 26 |
+-----+------------+
| 26  | Channel 27 |
+-----+------------+
| 27  | Channel 28 |
+-----+------------+
| 28  | Channel 29 |
+-----+------------+
| 29  | Channel 30 |
+-----+------------+
| 30  | Channel 31 |
+-----+------------+
| 31  | Channel 32 |
+-----+------------+




.. _SERVO_BLH_AUTO:

SERVO\_BLH\_AUTO: BLHeli pass\-thru auto\-enable for multicopter motors
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

If set to 1 this auto\-enables BLHeli pass\-thru support for all multicopter motors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _SERVO_BLH_TEST:

SERVO\_BLH\_TEST: BLHeli internal interface test
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Setting SERVO\_BLH\_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC\. The debug output is displayed on the USB console\.


+-------+------------+
| Value | Meaning    |
+=======+============+
| 0     | Disabled   |
+-------+------------+
| 1     | TestMotor1 |
+-------+------------+
| 2     | TestMotor2 |
+-------+------------+
| 3     | TestMotor3 |
+-------+------------+
| 4     | TestMotor4 |
+-------+------------+
| 5     | TestMotor5 |
+-------+------------+
| 6     | TestMotor6 |
+-------+------------+
| 7     | TestMotor7 |
+-------+------------+
| 8     | TestMotor8 |
+-------+------------+




.. _SERVO_BLH_TMOUT:

SERVO\_BLH\_TMOUT: BLHeli protocol timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This sets the inactivity timeout for the BLHeli protocol in seconds\. If no packets are received in this time normal MAVLink operations are resumed\. A value of 0 means no timeout


+----------+---------+
| Range    | Units   |
+==========+=========+
| 0 to 300 | seconds |
+----------+---------+




.. _SERVO_BLH_TRATE:

SERVO\_BLH\_TRATE: BLHeli telemetry rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


This sets the rate in Hz for requesting telemetry from ESCs\. It is the rate per ESC\. Setting to zero disables telemetry requests


+----------+-------+
| Range    | Units |
+==========+=======+
| 0 to 500 | hertz |
+----------+-------+




.. _SERVO_BLH_DEBUG:

SERVO\_BLH\_DEBUG: BLHeli debug level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active\. This can be used to diagnose failures\.


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+




.. _SERVO_BLH_OTYPE:

SERVO\_BLH\_OTYPE: BLHeli output type override
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

When set to a non\-zero value this overrides the output type for the output channels given by SERVO\_BLH\_MASK\. This can be used to enable DShot on outputs that are not part of the multicopter motors group\.


+-------+------------+
| Value | Meaning    |
+=======+============+
| 0     | None       |
+-------+------------+
| 1     | OneShot    |
+-------+------------+
| 2     | OneShot125 |
+-------+------------+
| 3     | Brushed    |
+-------+------------+
| 4     | DShot150   |
+-------+------------+
| 5     | DShot300   |
+-------+------------+
| 6     | DShot600   |
+-------+------------+
| 7     | DShot1200  |
+-------+------------+




.. _SERVO_BLH_PORT:

SERVO\_BLH\_PORT: Control port
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the mavlink channel to use for blheli pass\-thru\. The channel number is determined by the number of serial ports configured to use mavlink\. So 0 is always the console\, 1 is the next serial port using mavlink\, 2 the next after that and so on\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | Console                 |
+-------+-------------------------+
| 1     | Mavlink Serial Channel1 |
+-------+-------------------------+
| 2     | Mavlink Serial Channel2 |
+-------+-------------------------+
| 3     | Mavlink Serial Channel3 |
+-------+-------------------------+
| 4     | Mavlink Serial Channel4 |
+-------+-------------------------+
| 5     | Mavlink Serial Channel5 |
+-------+-------------------------+




.. _SERVO_BLH_POLES:

SERVO\_BLH\_POLES: BLHeli Motor Poles
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

This allows calculation of true RPM from ESC\'s eRPM\. The default is 14\.


+----------+
| Range    |
+==========+
| 1 to 127 |
+----------+




.. _SERVO_BLH_3DMASK:

SERVO\_BLH\_3DMASK: BLHeli bitmask of 3D channels
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Mask of channels which are dynamically reversible\. This is used to configure ESCs in \'3D\' mode\, allowing for the motor to spin in either direction


+-----+------------+
| Bit | Meaning    |
+=====+============+
| 0   | Channel1   |
+-----+------------+
| 1   | Channel2   |
+-----+------------+
| 2   | Channel3   |
+-----+------------+
| 3   | Channel4   |
+-----+------------+
| 4   | Channel5   |
+-----+------------+
| 5   | Channel6   |
+-----+------------+
| 6   | Channel7   |
+-----+------------+
| 7   | Channel8   |
+-----+------------+
| 8   | Channel9   |
+-----+------------+
| 9   | Channel10  |
+-----+------------+
| 10  | Channel11  |
+-----+------------+
| 11  | Channel12  |
+-----+------------+
| 12  | Channel13  |
+-----+------------+
| 13  | Channel14  |
+-----+------------+
| 14  | Channel15  |
+-----+------------+
| 15  | Channel16  |
+-----+------------+
| 16  | Channel 17 |
+-----+------------+
| 17  | Channel 18 |
+-----+------------+
| 18  | Channel 19 |
+-----+------------+
| 19  | Channel 20 |
+-----+------------+
| 20  | Channel 21 |
+-----+------------+
| 21  | Channel 22 |
+-----+------------+
| 22  | Channel 23 |
+-----+------------+
| 23  | Channel 24 |
+-----+------------+
| 24  | Channel 25 |
+-----+------------+
| 25  | Channel 26 |
+-----+------------+
| 26  | Channel 27 |
+-----+------------+
| 27  | Channel 28 |
+-----+------------+
| 28  | Channel 29 |
+-----+------------+
| 29  | Channel 30 |
+-----+------------+
| 30  | Channel 31 |
+-----+------------+
| 31  | Channel 32 |
+-----+------------+




.. _SERVO_BLH_BDMASK:

SERVO\_BLH\_BDMASK: BLHeli bitmask of bi\-directional dshot channels
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Mask of channels which support bi\-directional dshot\. This is used for ESCs which have firmware that supports bi\-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch\.


+-----+------------+
| Bit | Meaning    |
+=====+============+
| 0   | Channel1   |
+-----+------------+
| 1   | Channel2   |
+-----+------------+
| 2   | Channel3   |
+-----+------------+
| 3   | Channel4   |
+-----+------------+
| 4   | Channel5   |
+-----+------------+
| 5   | Channel6   |
+-----+------------+
| 6   | Channel7   |
+-----+------------+
| 7   | Channel8   |
+-----+------------+
| 8   | Channel9   |
+-----+------------+
| 9   | Channel10  |
+-----+------------+
| 10  | Channel11  |
+-----+------------+
| 11  | Channel12  |
+-----+------------+
| 12  | Channel13  |
+-----+------------+
| 13  | Channel14  |
+-----+------------+
| 14  | Channel15  |
+-----+------------+
| 15  | Channel16  |
+-----+------------+
| 16  | Channel 17 |
+-----+------------+
| 17  | Channel 18 |
+-----+------------+
| 18  | Channel 19 |
+-----+------------+
| 19  | Channel 20 |
+-----+------------+
| 20  | Channel 21 |
+-----+------------+
| 21  | Channel 22 |
+-----+------------+
| 22  | Channel 23 |
+-----+------------+
| 23  | Channel 24 |
+-----+------------+
| 24  | Channel 25 |
+-----+------------+
| 25  | Channel 26 |
+-----+------------+
| 26  | Channel 27 |
+-----+------------+
| 27  | Channel 28 |
+-----+------------+
| 28  | Channel 29 |
+-----+------------+
| 29  | Channel 30 |
+-----+------------+
| 30  | Channel 31 |
+-----+------------+
| 31  | Channel 32 |
+-----+------------+




.. _SERVO_BLH_RVMASK:

SERVO\_BLH\_RVMASK: BLHeli bitmask of reversed channels
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Mask of channels which are reversed\. This is used to configure ESCs in reversed mode


+-----+------------+
| Bit | Meaning    |
+=====+============+
| 0   | Channel1   |
+-----+------------+
| 1   | Channel2   |
+-----+------------+
| 2   | Channel3   |
+-----+------------+
| 3   | Channel4   |
+-----+------------+
| 4   | Channel5   |
+-----+------------+
| 5   | Channel6   |
+-----+------------+
| 6   | Channel7   |
+-----+------------+
| 7   | Channel8   |
+-----+------------+
| 8   | Channel9   |
+-----+------------+
| 9   | Channel10  |
+-----+------------+
| 10  | Channel11  |
+-----+------------+
| 11  | Channel12  |
+-----+------------+
| 12  | Channel13  |
+-----+------------+
| 13  | Channel14  |
+-----+------------+
| 14  | Channel15  |
+-----+------------+
| 15  | Channel16  |
+-----+------------+
| 16  | Channel 17 |
+-----+------------+
| 17  | Channel 18 |
+-----+------------+
| 18  | Channel 19 |
+-----+------------+
| 19  | Channel 20 |
+-----+------------+
| 20  | Channel 21 |
+-----+------------+
| 21  | Channel 22 |
+-----+------------+
| 22  | Channel 23 |
+-----+------------+
| 23  | Channel 24 |
+-----+------------+
| 24  | Channel 25 |
+-----+------------+
| 25  | Channel 26 |
+-----+------------+
| 26  | Channel 27 |
+-----+------------+
| 27  | Channel 28 |
+-----+------------+
| 28  | Channel 29 |
+-----+------------+
| 29  | Channel 30 |
+-----+------------+
| 30  | Channel 31 |
+-----+------------+
| 31  | Channel 32 |
+-----+------------+





.. _parameters_SERVO_FTW_:

SERVO\_FTW\_ Parameters
-----------------------


.. _SERVO_FTW_MASK:

SERVO\_FTW\_MASK: Servo channel output bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Servo channel mask specifying FETtec ESC output\.


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | SERVO1  |
+-----+---------+
| 1   | SERVO2  |
+-----+---------+
| 2   | SERVO3  |
+-----+---------+
| 3   | SERVO4  |
+-----+---------+
| 4   | SERVO5  |
+-----+---------+
| 5   | SERVO6  |
+-----+---------+
| 6   | SERVO7  |
+-----+---------+
| 7   | SERVO8  |
+-----+---------+
| 8   | SERVO9  |
+-----+---------+
| 9   | SERVO10 |
+-----+---------+
| 10  | SERVO11 |
+-----+---------+
| 11  | SERVO12 |
+-----+---------+




.. _SERVO_FTW_RVMASK:

SERVO\_FTW\_RVMASK: Servo channel reverse rotation bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Servo channel mask to reverse rotation of FETtec ESC outputs\.


+-----+---------+
| Bit | Meaning |
+=====+=========+
| 0   | SERVO1  |
+-----+---------+
| 1   | SERVO2  |
+-----+---------+
| 2   | SERVO3  |
+-----+---------+
| 3   | SERVO4  |
+-----+---------+
| 4   | SERVO5  |
+-----+---------+
| 5   | SERVO6  |
+-----+---------+
| 6   | SERVO7  |
+-----+---------+
| 7   | SERVO8  |
+-----+---------+
| 8   | SERVO9  |
+-----+---------+
| 9   | SERVO10 |
+-----+---------+
| 10  | SERVO11 |
+-----+---------+
| 11  | SERVO12 |
+-----+---------+




.. _SERVO_FTW_POLES:

SERVO\_FTW\_POLES: Nr\. electrical poles
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Number of motor electrical poles


+---------+
| Range   |
+=========+
| 2 to 50 |
+---------+





.. _parameters_SERVO_ROB_:

SERVO\_ROB\_ Parameters
-----------------------


.. _SERVO_ROB_POSMIN:

SERVO\_ROB\_POSMIN: Robotis servo position min
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position minimum at servo min value\. This should be within the position control range of the servos\, normally 0 to 4095


+-----------+
| Range     |
+===========+
| 0 to 4095 |
+-----------+




.. _SERVO_ROB_POSMAX:

SERVO\_ROB\_POSMAX: Robotis servo position max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Position maximum at servo max value\. This should be within the position control range of the servos\, normally 0 to 4095


+-----------+
| Range     |
+===========+
| 0 to 4095 |
+-----------+





.. _parameters_SERVO_SBUS_:

SERVO\_SBUS\_ Parameters
------------------------


.. _SERVO_SBUS_RATE:

SERVO\_SBUS\_RATE: SBUS default output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

This sets the SBUS output frame rate in Hz\.


+-----------+-------+
| Range     | Units |
+===========+=======+
| 25 to 250 | hertz |
+-----------+-------+





.. _parameters_SERVO_VOLZ_:

SERVO\_VOLZ\_ Parameters
------------------------


.. _SERVO_VOLZ_MASK:

SERVO\_VOLZ\_MASK: Channel Bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Enable of volz servo protocol to specific channels


+-----+-----------+
| Bit | Meaning   |
+=====+===========+
| 0   | Channel1  |
+-----+-----------+
| 1   | Channel2  |
+-----+-----------+
| 2   | Channel3  |
+-----+-----------+
| 3   | Channel4  |
+-----+-----------+
| 4   | Channel5  |
+-----+-----------+
| 5   | Channel6  |
+-----+-----------+
| 6   | Channel7  |
+-----+-----------+
| 7   | Channel8  |
+-----+-----------+
| 8   | Channel9  |
+-----+-----------+
| 9   | Channel10 |
+-----+-----------+
| 10  | Channel11 |
+-----+-----------+
| 11  | Channel12 |
+-----+-----------+
| 12  | Channel13 |
+-----+-----------+
| 13  | Channel14 |
+-----+-----------+
| 14  | Channel15 |
+-----+-----------+
| 15  | Channel16 |
+-----+-----------+
| 16  | Channel17 |
+-----+-----------+
| 17  | Channel18 |
+-----+-----------+
| 18  | Channel19 |
+-----+-----------+
| 19  | Channel20 |
+-----+-----------+
| 20  | Channel21 |
+-----+-----------+
| 21  | Channel22 |
+-----+-----------+
| 22  | Channel23 |
+-----+-----------+
| 23  | Channel24 |
+-----+-----------+
| 24  | Channel25 |
+-----+-----------+
| 25  | Channel26 |
+-----+-----------+
| 26  | Channel27 |
+-----+-----------+
| 28  | Channel29 |
+-----+-----------+
| 29  | Channel30 |
+-----+-----------+
| 30  | Channel31 |
+-----+-----------+
| 31  | Channel32 |
+-----+-----------+





.. _parameters_SR0_:

SR0\_ Parameters
----------------


.. _SR0_RAW_SENS:

SR0\_RAW\_SENS: Raw sensor stream rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and SENSOR\_OFFSETS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR0_EXT_STAT:

SR0\_EXT\_STAT: Extended status stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, and FENCE\_STATUS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR0_RC_CHAN:

SR0\_RC\_CHAN: RC Channel stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR0_RAW_CTRL:

SR0\_RAW\_CTRL: Unused
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Unused


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR0_POSITION:

SR0\_POSITION: Position stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR0_EXTRA1:

SR0\_EXTRA1: Extra data type 1 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of ATTITUDE\, SIMSTATE \(SITL only\)\, AHRS2 and PID\_TUNING to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR0_EXTRA2:

SR0\_EXTRA2: Extra data type 2 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of VFR\_HUD to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR0_EXTRA3:

SR0\_EXTRA3: Extra data type 3 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of AHRS\, SYSTEM\_TIME\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION and RPM to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR0_PARAMS:

SR0\_PARAMS: Parameter stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of PARAM\_VALUE to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+





.. _parameters_SR1_:

SR1\_ Parameters
----------------


.. _SR1_RAW_SENS:

SR1\_RAW\_SENS: Raw sensor stream rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and SENSOR\_OFFSETS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR1_EXT_STAT:

SR1\_EXT\_STAT: Extended status stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, and FENCE\_STATUS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR1_RC_CHAN:

SR1\_RC\_CHAN: RC Channel stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR1_RAW_CTRL:

SR1\_RAW\_CTRL: Unused
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Unused


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR1_POSITION:

SR1\_POSITION: Position stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR1_EXTRA1:

SR1\_EXTRA1: Extra data type 1 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of ATTITUDE\, SIMSTATE \(SITL only\)\, AHRS2 and PID\_TUNING to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR1_EXTRA2:

SR1\_EXTRA2: Extra data type 2 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of VFR\_HUD to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR1_EXTRA3:

SR1\_EXTRA3: Extra data type 3 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of AHRS\, SYSTEM\_TIME\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION and RPM to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR1_PARAMS:

SR1\_PARAMS: Parameter stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of PARAM\_VALUE to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+





.. _parameters_SR2_:

SR2\_ Parameters
----------------


.. _SR2_RAW_SENS:

SR2\_RAW\_SENS: Raw sensor stream rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and SENSOR\_OFFSETS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR2_EXT_STAT:

SR2\_EXT\_STAT: Extended status stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, and FENCE\_STATUS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR2_RC_CHAN:

SR2\_RC\_CHAN: RC Channel stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR2_RAW_CTRL:

SR2\_RAW\_CTRL: Unused
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Unused


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR2_POSITION:

SR2\_POSITION: Position stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR2_EXTRA1:

SR2\_EXTRA1: Extra data type 1 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of ATTITUDE\, SIMSTATE \(SITL only\)\, AHRS2 and PID\_TUNING to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR2_EXTRA2:

SR2\_EXTRA2: Extra data type 2 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of VFR\_HUD to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR2_EXTRA3:

SR2\_EXTRA3: Extra data type 3 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of AHRS\, SYSTEM\_TIME\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION and RPM to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR2_PARAMS:

SR2\_PARAMS: Parameter stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of PARAM\_VALUE to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+





.. _parameters_SR3_:

SR3\_ Parameters
----------------


.. _SR3_RAW_SENS:

SR3\_RAW\_SENS: Raw sensor stream rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and SENSOR\_OFFSETS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR3_EXT_STAT:

SR3\_EXT\_STAT: Extended status stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, and FENCE\_STATUS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR3_RC_CHAN:

SR3\_RC\_CHAN: RC Channel stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR3_RAW_CTRL:

SR3\_RAW\_CTRL: Unused
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Unused


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR3_POSITION:

SR3\_POSITION: Position stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR3_EXTRA1:

SR3\_EXTRA1: Extra data type 1 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of ATTITUDE\, SIMSTATE \(SITL only\)\, AHRS2 and PID\_TUNING to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR3_EXTRA2:

SR3\_EXTRA2: Extra data type 2 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of VFR\_HUD to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR3_EXTRA3:

SR3\_EXTRA3: Extra data type 3 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of AHRS\, SYSTEM\_TIME\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION and RPM to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR3_PARAMS:

SR3\_PARAMS: Parameter stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of PARAM\_VALUE to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+





.. _parameters_SR4_:

SR4\_ Parameters
----------------


.. _SR4_RAW_SENS:

SR4\_RAW\_SENS: Raw sensor stream rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and SENSOR\_OFFSETS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR4_EXT_STAT:

SR4\_EXT\_STAT: Extended status stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, and FENCE\_STATUS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR4_RC_CHAN:

SR4\_RC\_CHAN: RC Channel stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR4_RAW_CTRL:

SR4\_RAW\_CTRL: Unused
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Unused


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR4_POSITION:

SR4\_POSITION: Position stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR4_EXTRA1:

SR4\_EXTRA1: Extra data type 1 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of ATTITUDE\, SIMSTATE \(SITL only\)\, AHRS2 and PID\_TUNING to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR4_EXTRA2:

SR4\_EXTRA2: Extra data type 2 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of VFR\_HUD to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR4_EXTRA3:

SR4\_EXTRA3: Extra data type 3 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of AHRS\, SYSTEM\_TIME\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION and RPM to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR4_PARAMS:

SR4\_PARAMS: Parameter stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of PARAM\_VALUE to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+





.. _parameters_SR5_:

SR5\_ Parameters
----------------


.. _SR5_RAW_SENS:

SR5\_RAW\_SENS: Raw sensor stream rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and SENSOR\_OFFSETS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR5_EXT_STAT:

SR5\_EXT\_STAT: Extended status stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, and FENCE\_STATUS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR5_RC_CHAN:

SR5\_RC\_CHAN: RC Channel stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR5_RAW_CTRL:

SR5\_RAW\_CTRL: Unused
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Unused


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR5_POSITION:

SR5\_POSITION: Position stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR5_EXTRA1:

SR5\_EXTRA1: Extra data type 1 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of ATTITUDE\, SIMSTATE \(SITL only\)\, AHRS2 and PID\_TUNING to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR5_EXTRA2:

SR5\_EXTRA2: Extra data type 2 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of VFR\_HUD to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR5_EXTRA3:

SR5\_EXTRA3: Extra data type 3 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of AHRS\, SYSTEM\_TIME\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION and RPM to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR5_PARAMS:

SR5\_PARAMS: Parameter stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of PARAM\_VALUE to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+





.. _parameters_SR6_:

SR6\_ Parameters
----------------


.. _SR6_RAW_SENS:

SR6\_RAW\_SENS: Raw sensor stream rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and SENSOR\_OFFSETS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR6_EXT_STAT:

SR6\_EXT\_STAT: Extended status stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, and FENCE\_STATUS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR6_RC_CHAN:

SR6\_RC\_CHAN: RC Channel stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR6_RAW_CTRL:

SR6\_RAW\_CTRL: Unused
~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Unused


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR6_POSITION:

SR6\_POSITION: Position stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR6_EXTRA1:

SR6\_EXTRA1: Extra data type 1 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of ATTITUDE\, SIMSTATE \(SITL only\)\, AHRS2 and PID\_TUNING to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR6_EXTRA2:

SR6\_EXTRA2: Extra data type 2 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of VFR\_HUD to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR6_EXTRA3:

SR6\_EXTRA3: Extra data type 3 stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of AHRS\, SYSTEM\_TIME\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION and RPM to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+




.. _SR6_PARAMS:

SR6\_PARAMS: Parameter stream rate to ground station
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Stream rate of PARAM\_VALUE to ground station


+-----------+---------+-------+
| Increment | Range   | Units |
+===========+=========+=======+
| 1         | 0 to 10 | hertz |
+-----------+---------+-------+





.. _parameters_STAT:

STAT Parameters
---------------


.. _STAT_BOOTCNT:

STAT\_BOOTCNT: Boot Count
~~~~~~~~~~~~~~~~~~~~~~~~~


Number of times board has been booted


+----------+
| ReadOnly |
+==========+
| True     |
+----------+




.. _STAT_FLTTIME:

STAT\_FLTTIME: Total FlightTime
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Total FlightTime \(seconds\)


+----------+---------+
| ReadOnly | Units   |
+==========+=========+
| True     | seconds |
+----------+---------+




.. _STAT_RUNTIME:

STAT\_RUNTIME: Total RunTime
~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Total time autopilot has run


+----------+---------+
| ReadOnly | Units   |
+==========+=========+
| True     | seconds |
+----------+---------+




.. _STAT_RESET:

STAT\_RESET: Statistics Reset Time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Seconds since January 1st 2016 \(Unix epoch\+1451606400\) since statistics reset \(set to 0 to reset statistics\)


+----------+---------+
| ReadOnly | Units   |
+==========+=========+
| True     | seconds |
+----------+---------+





.. _parameters_TEMP:

TEMP Parameters
---------------


.. _TEMP_LOG:

TEMP\_LOG: Logging
~~~~~~~~~~~~~~~~~~


Enables temperature sensor logging


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | Enabled  |
+-------+----------+





.. _parameters_TEMP1_:

TEMP1\_ Parameters
------------------


.. _TEMP1_TYPE:

TEMP1\_TYPE: Temperature Sensor Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enables temperature sensors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | TSYS01   |
+-------+----------+
| 2     | MCP9600  |
+-------+----------+




.. _TEMP1_BUS:

TEMP1\_BUS: Temperature sensor bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor bus number\, typically used to select from multiple I2C buses


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _TEMP1_ADDR:

TEMP1\_ADDR: Temperature sensor address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor address\, typically used for I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _TEMP1_SRC:

TEMP1\_SRC: Sensor Source
~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source is used to match up the source of the temperature data and populate the appropriate system\-component\. If 0 \(None\) then the data is only available via log\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | None                    |
+-------+-------------------------+
| 1     | ESC                     |
+-------+-------------------------+
| 2     | Motor                   |
+-------+-------------------------+
| 3     | Battery Index           |
+-------+-------------------------+
| 4     | Battery ID/SerialNumber |
+-------+-------------------------+




.. _TEMP1_SRC_ID:

TEMP1\_SRC\_ID: Sensor Source Identification
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source Identification is used to populate a specific instance of a system component\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_INDEX \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_INDEX\=2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\?SerialNum\)\,TEMP\_SRC\_INDEX\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\.



.. _parameters_TEMP2_:

TEMP2\_ Parameters
------------------


.. _TEMP2_TYPE:

TEMP2\_TYPE: Temperature Sensor Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enables temperature sensors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | TSYS01   |
+-------+----------+
| 2     | MCP9600  |
+-------+----------+




.. _TEMP2_BUS:

TEMP2\_BUS: Temperature sensor bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor bus number\, typically used to select from multiple I2C buses


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _TEMP2_ADDR:

TEMP2\_ADDR: Temperature sensor address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor address\, typically used for I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _TEMP2_SRC:

TEMP2\_SRC: Sensor Source
~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source is used to match up the source of the temperature data and populate the appropriate system\-component\. If 0 \(None\) then the data is only available via log\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | None                    |
+-------+-------------------------+
| 1     | ESC                     |
+-------+-------------------------+
| 2     | Motor                   |
+-------+-------------------------+
| 3     | Battery Index           |
+-------+-------------------------+
| 4     | Battery ID/SerialNumber |
+-------+-------------------------+




.. _TEMP2_SRC_ID:

TEMP2\_SRC\_ID: Sensor Source Identification
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source Identification is used to populate a specific instance of a system component\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_INDEX \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_INDEX\=2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\?SerialNum\)\,TEMP\_SRC\_INDEX\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\.



.. _parameters_TEMP3_:

TEMP3\_ Parameters
------------------


.. _TEMP3_TYPE:

TEMP3\_TYPE: Temperature Sensor Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enables temperature sensors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | TSYS01   |
+-------+----------+
| 2     | MCP9600  |
+-------+----------+




.. _TEMP3_BUS:

TEMP3\_BUS: Temperature sensor bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor bus number\, typically used to select from multiple I2C buses


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _TEMP3_ADDR:

TEMP3\_ADDR: Temperature sensor address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor address\, typically used for I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _TEMP3_SRC:

TEMP3\_SRC: Sensor Source
~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source is used to match up the source of the temperature data and populate the appropriate system\-component\. If 0 \(None\) then the data is only available via log\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | None                    |
+-------+-------------------------+
| 1     | ESC                     |
+-------+-------------------------+
| 2     | Motor                   |
+-------+-------------------------+
| 3     | Battery Index           |
+-------+-------------------------+
| 4     | Battery ID/SerialNumber |
+-------+-------------------------+




.. _TEMP3_SRC_ID:

TEMP3\_SRC\_ID: Sensor Source Identification
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source Identification is used to populate a specific instance of a system component\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_INDEX \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_INDEX\=2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\?SerialNum\)\,TEMP\_SRC\_INDEX\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\.



.. _parameters_TEMP4_:

TEMP4\_ Parameters
------------------


.. _TEMP4_TYPE:

TEMP4\_TYPE: Temperature Sensor Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enables temperature sensors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | TSYS01   |
+-------+----------+
| 2     | MCP9600  |
+-------+----------+




.. _TEMP4_BUS:

TEMP4\_BUS: Temperature sensor bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor bus number\, typically used to select from multiple I2C buses


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _TEMP4_ADDR:

TEMP4\_ADDR: Temperature sensor address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor address\, typically used for I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _TEMP4_SRC:

TEMP4\_SRC: Sensor Source
~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source is used to match up the source of the temperature data and populate the appropriate system\-component\. If 0 \(None\) then the data is only available via log\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | None                    |
+-------+-------------------------+
| 1     | ESC                     |
+-------+-------------------------+
| 2     | Motor                   |
+-------+-------------------------+
| 3     | Battery Index           |
+-------+-------------------------+
| 4     | Battery ID/SerialNumber |
+-------+-------------------------+




.. _TEMP4_SRC_ID:

TEMP4\_SRC\_ID: Sensor Source Identification
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source Identification is used to populate a specific instance of a system component\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_INDEX \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_INDEX\=2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\?SerialNum\)\,TEMP\_SRC\_INDEX\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\.



.. _parameters_TEMP5_:

TEMP5\_ Parameters
------------------


.. _TEMP5_TYPE:

TEMP5\_TYPE: Temperature Sensor Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enables temperature sensors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | TSYS01   |
+-------+----------+
| 2     | MCP9600  |
+-------+----------+




.. _TEMP5_BUS:

TEMP5\_BUS: Temperature sensor bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor bus number\, typically used to select from multiple I2C buses


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _TEMP5_ADDR:

TEMP5\_ADDR: Temperature sensor address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor address\, typically used for I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _TEMP5_SRC:

TEMP5\_SRC: Sensor Source
~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source is used to match up the source of the temperature data and populate the appropriate system\-component\. If 0 \(None\) then the data is only available via log\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | None                    |
+-------+-------------------------+
| 1     | ESC                     |
+-------+-------------------------+
| 2     | Motor                   |
+-------+-------------------------+
| 3     | Battery Index           |
+-------+-------------------------+
| 4     | Battery ID/SerialNumber |
+-------+-------------------------+




.. _TEMP5_SRC_ID:

TEMP5\_SRC\_ID: Sensor Source Identification
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source Identification is used to populate a specific instance of a system component\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_INDEX \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_INDEX\=2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\?SerialNum\)\,TEMP\_SRC\_INDEX\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\.



.. _parameters_TEMP6_:

TEMP6\_ Parameters
------------------


.. _TEMP6_TYPE:

TEMP6\_TYPE: Temperature Sensor Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enables temperature sensors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | TSYS01   |
+-------+----------+
| 2     | MCP9600  |
+-------+----------+




.. _TEMP6_BUS:

TEMP6\_BUS: Temperature sensor bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor bus number\, typically used to select from multiple I2C buses


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _TEMP6_ADDR:

TEMP6\_ADDR: Temperature sensor address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor address\, typically used for I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _TEMP6_SRC:

TEMP6\_SRC: Sensor Source
~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source is used to match up the source of the temperature data and populate the appropriate system\-component\. If 0 \(None\) then the data is only available via log\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | None                    |
+-------+-------------------------+
| 1     | ESC                     |
+-------+-------------------------+
| 2     | Motor                   |
+-------+-------------------------+
| 3     | Battery Index           |
+-------+-------------------------+
| 4     | Battery ID/SerialNumber |
+-------+-------------------------+




.. _TEMP6_SRC_ID:

TEMP6\_SRC\_ID: Sensor Source Identification
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source Identification is used to populate a specific instance of a system component\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_INDEX \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_INDEX\=2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\?SerialNum\)\,TEMP\_SRC\_INDEX\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\.



.. _parameters_TEMP7_:

TEMP7\_ Parameters
------------------


.. _TEMP7_TYPE:

TEMP7\_TYPE: Temperature Sensor Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enables temperature sensors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | TSYS01   |
+-------+----------+
| 2     | MCP9600  |
+-------+----------+




.. _TEMP7_BUS:

TEMP7\_BUS: Temperature sensor bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor bus number\, typically used to select from multiple I2C buses


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _TEMP7_ADDR:

TEMP7\_ADDR: Temperature sensor address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor address\, typically used for I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _TEMP7_SRC:

TEMP7\_SRC: Sensor Source
~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source is used to match up the source of the temperature data and populate the appropriate system\-component\. If 0 \(None\) then the data is only available via log\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | None                    |
+-------+-------------------------+
| 1     | ESC                     |
+-------+-------------------------+
| 2     | Motor                   |
+-------+-------------------------+
| 3     | Battery Index           |
+-------+-------------------------+
| 4     | Battery ID/SerialNumber |
+-------+-------------------------+




.. _TEMP7_SRC_ID:

TEMP7\_SRC\_ID: Sensor Source Identification
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source Identification is used to populate a specific instance of a system component\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_INDEX \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_INDEX\=2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\?SerialNum\)\,TEMP\_SRC\_INDEX\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\.



.. _parameters_TEMP8_:

TEMP8\_ Parameters
------------------


.. _TEMP8_TYPE:

TEMP8\_TYPE: Temperature Sensor Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enables temperature sensors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | TSYS01   |
+-------+----------+
| 2     | MCP9600  |
+-------+----------+




.. _TEMP8_BUS:

TEMP8\_BUS: Temperature sensor bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor bus number\, typically used to select from multiple I2C buses


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _TEMP8_ADDR:

TEMP8\_ADDR: Temperature sensor address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor address\, typically used for I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _TEMP8_SRC:

TEMP8\_SRC: Sensor Source
~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source is used to match up the source of the temperature data and populate the appropriate system\-component\. If 0 \(None\) then the data is only available via log\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | None                    |
+-------+-------------------------+
| 1     | ESC                     |
+-------+-------------------------+
| 2     | Motor                   |
+-------+-------------------------+
| 3     | Battery Index           |
+-------+-------------------------+
| 4     | Battery ID/SerialNumber |
+-------+-------------------------+




.. _TEMP8_SRC_ID:

TEMP8\_SRC\_ID: Sensor Source Identification
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source Identification is used to populate a specific instance of a system component\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_INDEX \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_INDEX\=2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\?SerialNum\)\,TEMP\_SRC\_INDEX\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\.



.. _parameters_TEMP9_:

TEMP9\_ Parameters
------------------


.. _TEMP9_TYPE:

TEMP9\_TYPE: Temperature Sensor Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: Reboot required after change*

Enables temperature sensors


+-------+----------+
| Value | Meaning  |
+=======+==========+
| 0     | Disabled |
+-------+----------+
| 1     | TSYS01   |
+-------+----------+
| 2     | MCP9600  |
+-------+----------+




.. _TEMP9_BUS:

TEMP9\_BUS: Temperature sensor bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor bus number\, typically used to select from multiple I2C buses


+--------+
| Range  |
+========+
| 0 to 3 |
+--------+




.. _TEMP9_ADDR:

TEMP9\_ADDR: Temperature sensor address
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Temperature sensor address\, typically used for I2C address


+----------+
| Range    |
+==========+
| 0 to 127 |
+----------+




.. _TEMP9_SRC:

TEMP9\_SRC: Sensor Source
~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source is used to match up the source of the temperature data and populate the appropriate system\-component\. If 0 \(None\) then the data is only available via log\.


+-------+-------------------------+
| Value | Meaning                 |
+=======+=========================+
| 0     | None                    |
+-------+-------------------------+
| 1     | ESC                     |
+-------+-------------------------+
| 2     | Motor                   |
+-------+-------------------------+
| 3     | Battery Index           |
+-------+-------------------------+
| 4     | Battery ID/SerialNumber |
+-------+-------------------------+




.. _TEMP9_SRC_ID:

TEMP9\_SRC\_ID: Sensor Source Identification
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Sensor Source Identification is used to populate a specific instance of a system component\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_INDEX \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_INDEX\=2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\?SerialNum\)\,TEMP\_SRC\_INDEX\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\.



.. _parameters_VISO:

VISO Parameters
---------------


.. _VISO_TYPE:

VISO\_TYPE: Visual odometry camera connection type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*
| *Note: Reboot required after change*

Visual odometry camera connection type


+-------+---------------+
| Value | Meaning       |
+=======+===============+
| 0     | None          |
+-------+---------------+
| 1     | MAVLink       |
+-------+---------------+
| 2     | IntelT265     |
+-------+---------------+
| 3     | VOXL(ModalAI) |
+-------+---------------+




.. _VISO_POS_X:

VISO\_POS\_X: Visual odometry camera X position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

X position of the camera in body frame\. Positive X is forward of the origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _VISO_POS_Y:

VISO\_POS\_Y: Visual odometry camera Y position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Y position of the camera in body frame\. Positive Y is to the right of the origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _VISO_POS_Z:

VISO\_POS\_Z: Visual odometry camera Z position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Z position of the camera in body frame\. Positive Z is down from the origin\.


+-----------+---------+--------+
| Increment | Range   | Units  |
+===========+=========+========+
| 0.01      | -5 to 5 | meters |
+-----------+---------+--------+




.. _VISO_ORIENT:

VISO\_ORIENT: Visual odometery camera orientation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Visual odometery camera orientation


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Forward |
+-------+---------+
| 2     | Right   |
+-------+---------+
| 4     | Back    |
+-------+---------+
| 6     | Left    |
+-------+---------+
| 24    | Up      |
+-------+---------+
| 25    | Down    |
+-------+---------+




.. _VISO_SCALE:

VISO\_SCALE: Visual odometry scaling factor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Visual odometry scaling factor applied to position estimates from sensor


.. _VISO_DELAY_MS:

VISO\_DELAY\_MS: Visual odometry sensor delay
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Visual odometry sensor delay relative to inertial measurements


+----------+--------------+
| Range    | Units        |
+==========+==============+
| 0 to 250 | milliseconds |
+----------+--------------+




.. _VISO_VEL_M_NSE:

VISO\_VEL\_M\_NSE: Visual odometry velocity measurement noise
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Visual odometry velocity measurement noise in m\/s


+-------------+-------------------+
| Range       | Units             |
+=============+===================+
| 0.05 to 5.0 | meters per second |
+-------------+-------------------+




.. _VISO_POS_M_NSE:

VISO\_POS\_M\_NSE: Visual odometry position measurement noise
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Visual odometry position measurement noise minimum \(meters\)\. This value will be used if the sensor provides a lower noise value \(or no noise value\)


+-------------+--------+
| Range       | Units  |
+=============+========+
| 0.1 to 10.0 | meters |
+-------------+--------+




.. _VISO_YAW_M_NSE:

VISO\_YAW\_M\_NSE: Visual odometry yaw measurement noise
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Visual odometry yaw measurement noise minimum \(radians\)\, This value will be used if the sensor provides a lower noise value \(or no noise value\)


+-------------+---------+
| Range       | Units   |
+=============+=========+
| 0.05 to 1.0 | radians |
+-------------+---------+





.. _parameters_VTX_:

VTX\_ Parameters
----------------


.. _VTX_ENABLE:

VTX\_ENABLE: Is the Video Transmitter enabled or not
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Toggles the Video Transmitter on and off


+-------+---------+
| Value | Meaning |
+=======+=========+
| 0     | Disable |
+-------+---------+
| 1     | Enable  |
+-------+---------+




.. _VTX_POWER:

VTX\_POWER: Video Transmitter Power Level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Video Transmitter Power Level\. Different VTXs support different power levels\, the power level chosen will be rounded down to the nearest supported power level


+-----------+
| Range     |
+===========+
| 1 to 1000 |
+-----------+




.. _VTX_CHANNEL:

VTX\_CHANNEL: Video Transmitter Channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Video Transmitter Channel


+--------+
| Range  |
+========+
| 0 to 7 |
+--------+




.. _VTX_BAND:

VTX\_BAND: Video Transmitter Band
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Video Transmitter Band


+-------+--------------+
| Value | Meaning      |
+=======+==============+
| 0     | Band A       |
+-------+--------------+
| 1     | Band B       |
+-------+--------------+
| 2     | Band E       |
+-------+--------------+
| 3     | Airwave      |
+-------+--------------+
| 4     | RaceBand     |
+-------+--------------+
| 5     | Low RaceBand |
+-------+--------------+




.. _VTX_FREQ:

VTX\_FREQ: Video Transmitter Frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Video Transmitter Frequency\. The frequency is derived from the setting of BAND and CHANNEL


+--------------+----------+
| Range        | ReadOnly |
+==============+==========+
| 5000 to 6000 | True     |
+--------------+----------+




.. _VTX_OPTIONS:

VTX\_OPTIONS: Video Transmitter Options
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

| *Note: This parameter is for advanced users*

Video Transmitter Options\. Pitmode puts the VTX in a low power state\. Unlocked enables certain restricted frequencies and power levels\. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels\. One stop\-bit may be required for VTXs that erroneously mimic iNav behaviour\.


+-----+-----------------------------------------------------------+
| Bit | Meaning                                                   |
+=====+===========================================================+
| 0   | Pitmode                                                   |
+-----+-----------------------------------------------------------+
| 1   | Pitmode until armed                                       |
+-----+-----------------------------------------------------------+
| 2   | Pitmode when disarmed                                     |
+-----+-----------------------------------------------------------+
| 3   | Unlocked                                                  |
+-----+-----------------------------------------------------------+
| 4   | Add leading zero byte to requests                         |
+-----+-----------------------------------------------------------+
| 5   | Use 1 stop-bit in SmartAudio                              |
+-----+-----------------------------------------------------------+
| 6   | Ignore CRC in SmartAudio                                  |
+-----+-----------------------------------------------------------+
| 7   | Ignore status updates in CRSF and blindly set VTX options |
+-----+-----------------------------------------------------------+




.. _VTX_MAX_POWER:

VTX\_MAX\_POWER: Video Transmitter Max Power Level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


Video Transmitter Maximum Power Level\. Different VTXs support different power levels\, this prevents the power aux switch from requesting too high a power level\. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting\.


+------------+
| Range      |
+============+
| 25 to 1000 |
+------------+