Parameter Reference

INFO

This documentation was auto-generated from the source code for this PX4 version (using make parameters_metadata).

TIP

If a listed parameter is missing from the Firmware see: Finding/Updating Parameters.

UAVCAN Motor Parameters

ctl_bw (INT32)

Speed controller bandwidth.

Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.

Reboot	minValue	maxValue	increment	default	unit
	10	250		75	Hz

ctl_dir (INT32)

Reverse direction.

Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.

Reboot	minValue	maxValue	increment	default	unit
	0	1		1

ctl_gain (FLOAT)

Speed (RPM) controller gain.

Determines controller aggressiveness; units are amp-seconds per radian. Systems with higher rotational inertia (large props) will need gain increased; systems with low rotational inertia (small props) may need gain decreased. Higher values result in faster response, but may result in oscillation and excessive overshoot. Lower values result in a slower, smoother response.

Reboot	minValue	maxValue	increment	default	unit
	0.00	1.00		1	C/rad

ctl_hz_idle (FLOAT)

Idle speed (e Hz).

Idle speed (e Hz)

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		3.5	Hz

ctl_start_rate (INT32)

Spin-up rate (e Hz/s).

Spin-up rate (e Hz/s)

Reboot	minValue	maxValue	increment	default	unit
	5	1000		25	1/s^2

esc_index (INT32)

Index of this ESC in throttle command messages.

Reboot	minValue	maxValue	increment	default	unit
	0	15		0

id_ext_status (INT32)

Extended status ID.

Extended status ID

Reboot	minValue	maxValue	increment	default	unit
	1	1000000		20034

int_ext_status (INT32)

Extended status interval (µs).

Extended status interval (µs)

Reboot	minValue	maxValue	increment	default	unit
	0	1000000		50000	us

int_status (INT32)

ESC status interval (µs).

ESC status interval (µs)

Reboot	minValue	maxValue	increment	default	unit
		1000000		50000	us

mot_i_max (FLOAT)

Motor current limit in amps.

This determines the maximum current controller setpoint, as well as the maximum allowable current setpoint slew rate. This value should generally be set to the continuous current rating listed in the motor’s specification sheet, or set equal to the motor’s specified continuous power divided by the motor voltage limit.

Reboot	minValue	maxValue	increment	default	unit
	1	80		12	A

mot_kv (INT32)

Motor Kv in RPM per volt.

This can be taken from the motor’s specification sheet; accuracy will help control performance but some deviation from the specified value is acceptable.

Reboot	minValue	maxValue	increment	default	unit
	0	4000		2300	rpm/V

mot_ls (FLOAT)

READ ONLY: Motor inductance in henries.

This is measured on start-up.

Reboot	minValue	maxValue	increment	default	unit
				0.0	H

mot_num_poles (INT32)

Number of motor poles.

Used to convert mechanical speeds to electrical speeds. This number should be taken from the motor’s specification sheet.

Reboot	minValue	maxValue	increment	default	unit
	2	40		14

mot_rs (FLOAT)

READ ONLY: Motor resistance in ohms.

This is measured on start-up. When tuning a new motor, check that this value is approximately equal to the value shown in the motor’s specification sheet.

Reboot	minValue	maxValue	increment	default	unit
				0.0	Ohm

mot_v_accel (FLOAT)

Acceleration limit (V).

Acceleration limit (V)

Reboot	minValue	maxValue	increment	default	unit
	0.01	1.00		0.5	V

mot_v_max (FLOAT)

Motor voltage limit in volts.

The current controller’s commanded voltage will never exceed this value. Note that this may safely be above the nominal voltage of the motor; to determine the actual motor voltage limit, divide the motor’s rated power by the motor current limit.

Reboot	minValue	maxValue	increment	default	unit
	0			14.8	V

UAVCAN GNSS

gnss.dyn_model (INT32)

GNSS dynamic model.

Dynamic model used in the GNSS positioning engine. 0 – Automotive, 1 – Sea, 2 – Airborne.

Values:

• 0: Automotive
• 1: Sea
• 2: Airborne

Reboot	minValue	maxValue	increment	default	unit
	0	2		2

gnss.old_fix_msg (INT32)

Broadcast old GNSS fix message.

Broadcast the old (deprecated) GNSS fix message uavcan.equipment.gnss.Fix alongside the new alternative uavcan.equipment.gnss.Fix2. It is recommended to disable this feature to reduce the CAN bus traffic.

Values:

• 0: Fix2
• 1: Fix and Fix2

Reboot	minValue	maxValue	increment	default	unit
	0	1		1

gnss.warn_dimens (INT32)

device health warning.

Set the device health to Warning if the dimensionality of the GNSS solution is less than this value. 3 for the full (3D) solution, 2 for planar (2D) solution, 1 for time-only solution, 0 disables the feature.

Values:

• 0: disables the feature
• 1: time-only solution
• 2: planar (2D) solution
• 3: full (3D) solution

Reboot	minValue	maxValue	increment	default	unit
	0	3		0

gnss.warn_sats (INT32)

Set the device health to Warning if the number of satellites used in the GNSS solution is below this threshold. Zero disables the feature

Reboot	minValue	maxValue	increment	default	unit
				0

uavcan.pubp-pres (INT32)

Set the device health to Warning if the number of satellites used in the GNSS solution is below this threshold. Zero disables the feature

Reboot	minValue	maxValue	increment	default	unit
	0	1000000		0	us

ADSB

ADSB_CALLSIGN_1 (INT32)

First 4 characters of CALLSIGN.

Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, " ". Example "PX4 " -> 1347957792 For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.

Reboot	minValue	maxValue	increment	default	unit
✓				0

ADSB_CALLSIGN_2 (INT32)

Second 4 characters of CALLSIGN.

Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, " " only. Example "TEST" -> 1413829460 For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.

Reboot	minValue	maxValue	increment	default	unit
✓				0

ADSB_EMERGC (INT32)

ADSB-Out Emergency State.

Sets the vehicle emergency state

Values:

• 0: NoEmergency
• 1: General
• 2: Medical
• 3: LowFuel
• 4: NoCommunications
• 5: Interference
• 6: Downed

Reboot	minValue	maxValue	increment	default	unit
✓	0	6		0

ADSB_EMIT_TYPE (INT32)

ADSB-Out Vehicle Emitter Type.

Configure the emitter type of the vehicle.

Values:

• 0: Unknown
• 1: Light
• 2: Small
• 3: Large
• 4: HighVortex
• 5: Heavy
• 6: Performance
• 7: Rotorcraft
• 8: RESERVED
• 9: Glider
• 10: LightAir
• 11: Parachute
• 12: UltraLight
• 13: RESERVED
• 14: UAV
• 15: Space
• 16: RESERVED
• 17: EmergencySurf
• 18: ServiceSurf
• 19: PointObstacle

Reboot	minValue	maxValue	increment	default	unit
✓	0	15		14

ADSB_GPS_OFF_LAT (INT32)

ADSB-Out GPS Offset lat.

Sets GPS lataral offset encoding

Values:

• 0: NoData
• 1: LatLeft2M
• 2: LatLeft4M
• 3: LatLeft6M
• 4: LatRight0M
• 5: LatRight2M
• 6: LatRight4M
• 7: LatRight6M

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

ADSB_GPS_OFF_LON (INT32)

ADSB-Out GPS Offset lon.

Sets GPS longitudinal offset encoding

Values:

• 0: NoData
• 1: AppliedBySensor

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

ADSB_ICAO_ID (INT32)

ADSB-Out ICAO configuration.

Defines the ICAO ID of the vehicle

Reboot	minValue	maxValue	increment	default	unit
✓	-1	16777215		1194684

ADSB_ICAO_SPECL (INT32)

ADSB-In Special ICAO configuration.

This vehicle is always tracked. Use 0 to disable.

Reboot	minValue	maxValue	increment	default	unit
✓	0	16777215		0

ADSB_IDENT (INT32)

ADSB-Out Ident Configuration.

Enable Identification of Position feature

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

ADSB_LEN_WIDTH (INT32)

ADSB-Out Vehicle Size Configuration.

Report the length and width of the vehicle in meters. In most cases, use '1' for the smallest vehicle size.

Values:

• 0: SizeUnknown
• 1: Len15_Wid23
• 2: Len25_Wid28
• 3: Len25_Wid34
• 4: Len35_Wid33
• 5: Len35_Wid38
• 6: Len45_Wid39
• 7: Len45_Wid45
• 8: Len55_Wid45
• 9: Len55_Wid52
• 10: Len65_Wid59
• 11: Len65_Wid67
• 12: Len75_Wid72
• 13: Len75_Wid80
• 14: Len85_Wid80
• 15: Len85_Wid90

Reboot	minValue	maxValue	increment	default	unit
✓	0	15		1

ADSB_LIST_MAX (INT32)

ADSB-In Vehicle List Size.

Change number of targets to track

Reboot	minValue	maxValue	increment	default	unit
✓	0	50		25

ADSB_MAX_SPEED (INT32)

ADSB-Out Vehicle Max Speed.

Informs ADSB vehicles of this vehicle's max speed capability

Values:

• 0: UnknownMaxSpeed
• 1: 75Kts
• 2: 150Kts
• 3: 300Kts
• 4: 600Kts
• 5: 1200Kts
• 6: Over1200Kts

Reboot	minValue	maxValue	increment	default	unit
✓	0	6		0

ADSB_SQUAWK (INT32)

ADSB-Out squawk code configuration.

This parameter defines the squawk code. Value should be between 0000 and 7777.

Reboot	minValue	maxValue	increment	default	unit
✓	0	7777		1200

Actuator Outputs

PCA9685_DIS1 (INT32)

PCA9685 Output Channel 1 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS10 (INT32)

PCA9685 Output Channel 10 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS11 (INT32)

PCA9685 Output Channel 11 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS12 (INT32)

PCA9685 Output Channel 12 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS13 (INT32)

PCA9685 Output Channel 13 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS14 (INT32)

PCA9685 Output Channel 14 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS15 (INT32)

PCA9685 Output Channel 15 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS16 (INT32)

PCA9685 Output Channel 16 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS2 (INT32)

PCA9685 Output Channel 2 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS3 (INT32)

PCA9685 Output Channel 3 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS4 (INT32)

PCA9685 Output Channel 4 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS5 (INT32)

PCA9685 Output Channel 5 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS6 (INT32)

PCA9685 Output Channel 6 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS7 (INT32)

PCA9685 Output Channel 7 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS8 (INT32)

PCA9685 Output Channel 8 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DIS9 (INT32)

PCA9685 Output Channel 9 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PCA9685_DUTY_EN (INT32)

Put the selected channels into Duty-Cycle output mode.

The driver will output standard pulse-width encoded signal without this bit set. To make PCA9685 output in duty-cycle fashion, please enable the corresponding channel bit here and adjusting standard params to suit your need. The driver will have 12bits resolution for duty-cycle output. That means to achieve 0% to 100% output range on one channel, the corresponding params MIN and MAX for the channel should be set to 0 and 4096. Other standard params follows the same rule.

Bitmask:

• 0: Put CH1 to Duty-Cycle mode
• 1: Put CH2 to Duty-Cycle mode
• 2: Put CH3 to Duty-Cycle mode
• 3: Put CH4 to Duty-Cycle mode
• 4: Put CH5 to Duty-Cycle mode
• 5: Put CH6 to Duty-Cycle mode
• 6: Put CH7 to Duty-Cycle mode
• 7: Put CH8 to Duty-Cycle mode
• 8: Put CH9 to Duty-Cycle mode
• 9: Put CH10 to Duty-Cycle mode
• 10: Put CH11 to Duty-Cycle mode
• 11: Put CH12 to Duty-Cycle mode
• 12: Put CH13 to Duty-Cycle mode
• 13: Put CH14 to Duty-Cycle mode
• 14: Put CH15 to Duty-Cycle mode
• 15: Put CH16 to Duty-Cycle mode

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

PCA9685_FAIL1 (INT32)

PCA9685 Output Channel 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL10 (INT32)

PCA9685 Output Channel 10 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC10).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL11 (INT32)

PCA9685 Output Channel 11 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC11).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL12 (INT32)

PCA9685 Output Channel 12 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC12).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL13 (INT32)

PCA9685 Output Channel 13 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC13).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL14 (INT32)

PCA9685 Output Channel 14 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC14).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL15 (INT32)

PCA9685 Output Channel 15 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC15).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL16 (INT32)

PCA9685 Output Channel 16 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC16).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL2 (INT32)

PCA9685 Output Channel 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL3 (INT32)

PCA9685 Output Channel 3 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL4 (INT32)

PCA9685 Output Channel 4 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC4).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL5 (INT32)

PCA9685 Output Channel 5 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC5).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL6 (INT32)

PCA9685 Output Channel 6 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC6).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL7 (INT32)

PCA9685 Output Channel 7 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC7).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL8 (INT32)

PCA9685 Output Channel 8 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC8).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FAIL9 (INT32)

PCA9685 Output Channel 9 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC9).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PCA9685_FUNC1 (INT32)

PCA9685 Output Channel 1 Output Function.

Select what should be output on PCA9685 Output Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC10 (INT32)

PCA9685 Output Channel 10 Output Function.

Select what should be output on PCA9685 Output Channel 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC11 (INT32)

PCA9685 Output Channel 11 Output Function.

Select what should be output on PCA9685 Output Channel 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC12 (INT32)

PCA9685 Output Channel 12 Output Function.

Select what should be output on PCA9685 Output Channel 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC13 (INT32)

PCA9685 Output Channel 13 Output Function.

Select what should be output on PCA9685 Output Channel 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC14 (INT32)

PCA9685 Output Channel 14 Output Function.

Select what should be output on PCA9685 Output Channel 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC15 (INT32)

PCA9685 Output Channel 15 Output Function.

Select what should be output on PCA9685 Output Channel 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC16 (INT32)

PCA9685 Output Channel 16 Output Function.

Select what should be output on PCA9685 Output Channel 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC2 (INT32)

PCA9685 Output Channel 2 Output Function.

Select what should be output on PCA9685 Output Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC3 (INT32)

PCA9685 Output Channel 3 Output Function.

Select what should be output on PCA9685 Output Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC4 (INT32)

PCA9685 Output Channel 4 Output Function.

Select what should be output on PCA9685 Output Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC5 (INT32)

PCA9685 Output Channel 5 Output Function.

Select what should be output on PCA9685 Output Channel 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC6 (INT32)

PCA9685 Output Channel 6 Output Function.

Select what should be output on PCA9685 Output Channel 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC7 (INT32)

PCA9685 Output Channel 7 Output Function.

Select what should be output on PCA9685 Output Channel 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC8 (INT32)

PCA9685 Output Channel 8 Output Function.

Select what should be output on PCA9685 Output Channel 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_FUNC9 (INT32)

PCA9685 Output Channel 9 Output Function.

Select what should be output on PCA9685 Output Channel 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PCA9685_MAX1 (INT32)

PCA9685 Output Channel 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX10 (INT32)

PCA9685 Output Channel 10 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX11 (INT32)

PCA9685 Output Channel 11 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX12 (INT32)

PCA9685 Output Channel 12 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX13 (INT32)

PCA9685 Output Channel 13 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX14 (INT32)

PCA9685 Output Channel 14 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX15 (INT32)

PCA9685 Output Channel 15 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX16 (INT32)

PCA9685 Output Channel 16 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX2 (INT32)

PCA9685 Output Channel 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX3 (INT32)

PCA9685 Output Channel 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX4 (INT32)

PCA9685 Output Channel 4 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX5 (INT32)

PCA9685 Output Channel 5 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX6 (INT32)

PCA9685 Output Channel 6 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX7 (INT32)

PCA9685 Output Channel 7 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX8 (INT32)

PCA9685 Output Channel 8 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MAX9 (INT32)

PCA9685 Output Channel 9 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		1900

PCA9685_MIN1 (INT32)

PCA9685 Output Channel 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN10 (INT32)

PCA9685 Output Channel 10 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN11 (INT32)

PCA9685 Output Channel 11 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN12 (INT32)

PCA9685 Output Channel 12 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN13 (INT32)

PCA9685 Output Channel 13 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN14 (INT32)

PCA9685 Output Channel 14 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN15 (INT32)

PCA9685 Output Channel 15 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN16 (INT32)

PCA9685 Output Channel 16 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN2 (INT32)

PCA9685 Output Channel 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN3 (INT32)

PCA9685 Output Channel 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN4 (INT32)

PCA9685 Output Channel 4 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN5 (INT32)

PCA9685 Output Channel 5 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN6 (INT32)

PCA9685 Output Channel 6 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN7 (INT32)

PCA9685 Output Channel 7 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN8 (INT32)

PCA9685 Output Channel 8 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_MIN9 (INT32)

PCA9685 Output Channel 9 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1100

PCA9685_PWM_FREQ (FLOAT)

PWM cycle frequency.

Controls the PWM frequency at timing perspective. This is independent from PWM update frequency, as PCA9685 is capable to output without being continuously commanded by FC. Higher frequency leads to more accurate pulse width, but some ESCs and servos may not support it. This parameter should be set to the same value as PWM update rate in most case. This parameter MUST NOT exceed upper limit of 400.0, if any outputs as generic 1000~2000us pulse width is desired. Frequency higher than 400 only makes sense in duty-cycle mode.

Reboot	minValue	maxValue	increment	default	unit
	23.8	1525.87		50.0

PCA9685_REV (INT32)

Reverse Output Range for PCA9685 Output.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: PCA9685 Output Channel 1
• 1: PCA9685 Output Channel 2
• 2: PCA9685 Output Channel 3
• 3: PCA9685 Output Channel 4
• 4: PCA9685 Output Channel 5
• 5: PCA9685 Output Channel 6
• 6: PCA9685 Output Channel 7
• 7: PCA9685 Output Channel 8
• 8: PCA9685 Output Channel 9
• 9: PCA9685 Output Channel 10
• 10: PCA9685 Output Channel 11
• 11: PCA9685 Output Channel 12
• 12: PCA9685 Output Channel 13
• 13: PCA9685 Output Channel 14
• 14: PCA9685 Output Channel 15
• 15: PCA9685 Output Channel 16

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

PCA9685_SCHD_HZ (FLOAT)

PWM update rate.

Controls the update rate of PWM output. Flight Controller will inform those numbers of update events in a second, to PCA9685. Higher update rate will consume more I2C bandwidth, which may even lead to worse output latency, or completely block I2C bus.

Reboot	minValue	maxValue	increment	default	unit
	50.0	400.0		50.0

PWM_AUX_DIS1 (INT32)

PWM Aux 1 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS10 (INT32)

PWM Capture 2 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS11 (INT32)

PWM Capture 3 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS2 (INT32)

PWM Aux 2 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS3 (INT32)

PWM Aux 3 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS4 (INT32)

PWM Aux 4 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS5 (INT32)

PWM Aux 5 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS6 (INT32)

PWM Aux 6 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS7 (INT32)

PWM Aux 7 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS8 (INT32)

PWM Aux 8 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_DIS9 (INT32)

PWM Capture 1 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_AUX_FAIL1 (INT32)

PWM Aux 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL10 (INT32)

PWM Capture 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL11 (INT32)

PWM Capture 3 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL2 (INT32)

PWM Aux 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL3 (INT32)

PWM Aux 3 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL4 (INT32)

PWM Aux 4 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC4).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL5 (INT32)

PWM Aux 5 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC5).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL6 (INT32)

PWM Aux 6 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC6).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL7 (INT32)

PWM Aux 7 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC7).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL8 (INT32)

PWM Aux 8 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC8).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FAIL9 (INT32)

PWM Capture 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_AUX_FUNC1 (INT32)

PWM Aux 1 Output Function.

Select what should be output on PWM Aux 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC10 (INT32)

PWM Capture 2 Output Function.

Select what should be output on PWM Capture 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC11 (INT32)

PWM Capture 3 Output Function.

Select what should be output on PWM Capture 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC2 (INT32)

PWM Aux 2 Output Function.

Select what should be output on PWM Aux 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC3 (INT32)

PWM Aux 3 Output Function.

Select what should be output on PWM Aux 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC4 (INT32)

PWM Aux 4 Output Function.

Select what should be output on PWM Aux 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC5 (INT32)

PWM Aux 5 Output Function.

Select what should be output on PWM Aux 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC6 (INT32)

PWM Aux 6 Output Function.

Select what should be output on PWM Aux 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC7 (INT32)

PWM Aux 7 Output Function.

Select what should be output on PWM Aux 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC8 (INT32)

PWM Aux 8 Output Function.

Select what should be output on PWM Aux 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_FUNC9 (INT32)

PWM Capture 1 Output Function.

Select what should be output on PWM Capture 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel
• 2000: Camera Trigger
• 2032: Camera Capture
• 2064: PPS Input

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_AUX_MAX1 (INT32)

PWM Aux 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX10 (INT32)

PWM Capture 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX11 (INT32)

PWM Capture 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX2 (INT32)

PWM Aux 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX3 (INT32)

PWM Aux 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX4 (INT32)

PWM Aux 4 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX5 (INT32)

PWM Aux 5 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX6 (INT32)

PWM Aux 6 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX7 (INT32)

PWM Aux 7 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX8 (INT32)

PWM Aux 8 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MAX9 (INT32)

PWM Capture 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_AUX_MIN1 (INT32)

PWM Aux 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN10 (INT32)

PWM Capture 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN11 (INT32)

PWM Capture 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN2 (INT32)

PWM Aux 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN3 (INT32)

PWM Aux 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN4 (INT32)

PWM Aux 4 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN5 (INT32)

PWM Aux 5 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN6 (INT32)

PWM Aux 6 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN7 (INT32)

PWM Aux 7 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN8 (INT32)

PWM Aux 8 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_MIN9 (INT32)

PWM Capture 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_AUX_REV (INT32)

Reverse Output Range for PWM AUX.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: PWM Aux 1
• 1: PWM Aux 2
• 2: PWM Aux 3
• 3: PWM Aux 4
• 4: PWM Aux 5
• 5: PWM Aux 6
• 6: PWM Aux 7
• 7: PWM Aux 8
• 8: PWM Capture 1
• 9: PWM Capture 2
• 10: PWM Capture 3

Reboot	minValue	maxValue	increment	default	unit
	0	2047		0

PWM_AUX_TIM0 (INT32)

Output Protocol Configuration for PWM Aux 1-4.

Select which Output Protocol to use for outputs PWM Aux 1-4. Custom PWM rates can be used by directly setting any value >0.

Values:

• -5: DShot150
• -4: DShot300
• -3: DShot600
• -2: DShot1200
• -1: OneShot
• 50: PWM 50 Hz
• 100: PWM 100 Hz
• 200: PWM 200 Hz
• 400: PWM 400 Hz

Reboot	minValue	maxValue	increment	default	unit
✓				400

PWM_AUX_TIM1 (INT32)

Output Protocol Configuration for PWM Aux 5-6.

Select which Output Protocol to use for outputs PWM Aux 5-6. Custom PWM rates can be used by directly setting any value >0.

Values:

• -1: OneShot
• 50: PWM 50 Hz
• 100: PWM 100 Hz
• 200: PWM 200 Hz
• 400: PWM 400 Hz

Reboot	minValue	maxValue	increment	default	unit
✓				400

PWM_AUX_TIM2 (INT32)

Output Protocol Configuration for PWM Aux 7-8.

Select which Output Protocol to use for outputs PWM Aux 7-8. Custom PWM rates can be used by directly setting any value >0.

Values:

• -1: OneShot
• 50: PWM 50 Hz
• 100: PWM 100 Hz
• 200: PWM 200 Hz
• 400: PWM 400 Hz

Reboot	minValue	maxValue	increment	default	unit
✓				400

PWM_AUX_TIM3 (INT32)

Output Protocol Configuration for PWM Capture 1-3.

Select which Output Protocol to use for outputs PWM Capture 1-3. Custom PWM rates can be used by directly setting any value >0.

Values:

• -1: OneShot
• 50: PWM 50 Hz
• 100: PWM 100 Hz
• 200: PWM 200 Hz
• 400: PWM 400 Hz

Reboot	minValue	maxValue	increment	default	unit
✓				400

PWM_MAIN_DIS1 (INT32)

MAIN 1 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_MAIN_DIS2 (INT32)

MAIN 2 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_MAIN_DIS3 (INT32)

MAIN 3 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_MAIN_DIS4 (INT32)

MAIN 4 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_MAIN_DIS5 (INT32)

MAIN 5 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_MAIN_DIS6 (INT32)

MAIN 6 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_MAIN_DIS7 (INT32)

MAIN 7 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_MAIN_DIS8 (INT32)

MAIN 8 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	800	2200		1000

PWM_MAIN_FAIL1 (INT32)

MAIN 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_MAIN_FAIL2 (INT32)

MAIN 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_MAIN_FAIL3 (INT32)

MAIN 3 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_MAIN_FAIL4 (INT32)

MAIN 4 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC4).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_MAIN_FAIL5 (INT32)

MAIN 5 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC5).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_MAIN_FAIL6 (INT32)

MAIN 6 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC6).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_MAIN_FAIL7 (INT32)

MAIN 7 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC7).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_MAIN_FAIL8 (INT32)

MAIN 8 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC8).

Reboot	minValue	maxValue	increment	default	unit
	-1	2200		-1

PWM_MAIN_FUNC1 (INT32)

MAIN 1 Output Function.

Select what should be output on MAIN 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_MAIN_FUNC2 (INT32)

MAIN 2 Output Function.

Select what should be output on MAIN 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_MAIN_FUNC3 (INT32)

MAIN 3 Output Function.

Select what should be output on MAIN 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_MAIN_FUNC4 (INT32)

MAIN 4 Output Function.

Select what should be output on MAIN 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_MAIN_FUNC5 (INT32)

MAIN 5 Output Function.

Select what should be output on MAIN 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_MAIN_FUNC6 (INT32)

MAIN 6 Output Function.

Select what should be output on MAIN 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_MAIN_FUNC7 (INT32)

MAIN 7 Output Function.

Select what should be output on MAIN 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_MAIN_FUNC8 (INT32)

MAIN 8 Output Function.

Select what should be output on MAIN 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

PWM_MAIN_MAX1 (INT32)

MAIN 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_MAIN_MAX2 (INT32)

MAIN 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_MAIN_MAX3 (INT32)

MAIN 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_MAIN_MAX4 (INT32)

MAIN 4 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_MAIN_MAX5 (INT32)

MAIN 5 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_MAIN_MAX6 (INT32)

MAIN 6 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_MAIN_MAX7 (INT32)

MAIN 7 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_MAIN_MAX8 (INT32)

MAIN 8 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1600	2200		2000

PWM_MAIN_MIN1 (INT32)

MAIN 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_MAIN_MIN2 (INT32)

MAIN 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_MAIN_MIN3 (INT32)

MAIN 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_MAIN_MIN4 (INT32)

MAIN 4 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_MAIN_MIN5 (INT32)

MAIN 5 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_MAIN_MIN6 (INT32)

MAIN 6 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_MAIN_MIN7 (INT32)

MAIN 7 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_MAIN_MIN8 (INT32)

MAIN 8 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	800	1400		1000

PWM_MAIN_REV (INT32)

Reverse Output Range for PWM MAIN.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: MAIN 1
• 1: MAIN 2
• 2: MAIN 3
• 3: MAIN 4
• 4: MAIN 5
• 5: MAIN 6
• 6: MAIN 7
• 7: MAIN 8

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

PWM_MAIN_TIM0 (INT32)

Output Protocol Configuration for MAIN 1-2.

Select which Output Protocol to use for outputs MAIN 1-2. Custom PWM rates can be used by directly setting any value >0.

Values:

• -1: OneShot
• 50: PWM 50 Hz
• 100: PWM 100 Hz
• 200: PWM 200 Hz
• 400: PWM 400 Hz

Reboot	minValue	maxValue	increment	default	unit
✓				400

PWM_MAIN_TIM1 (INT32)

Output Protocol Configuration for MAIN 3-4.

Select which Output Protocol to use for outputs MAIN 3-4. Custom PWM rates can be used by directly setting any value >0.

Values:

• -1: OneShot
• 50: PWM 50 Hz
• 100: PWM 100 Hz
• 200: PWM 200 Hz
• 400: PWM 400 Hz

Reboot	minValue	maxValue	increment	default	unit
✓				400

PWM_MAIN_TIM2 (INT32)

Output Protocol Configuration for MAIN 5-8.

Select which Output Protocol to use for outputs MAIN 5-8. Custom PWM rates can be used by directly setting any value >0.

Values:

• -1: OneShot
• 50: PWM 50 Hz
• 100: PWM 100 Hz
• 200: PWM 200 Hz
• 400: PWM 400 Hz

Reboot	minValue	maxValue	increment	default	unit
✓				400

RBCLW_DIS1 (INT32)

Roboclaw Driver Channel 1 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	128	128		128

RBCLW_DIS2 (INT32)

Roboclaw Driver Channel 2 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	128	128		128

RBCLW_FAIL1 (INT32)

Roboclaw Driver Channel 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see RBCLW_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	257		-1

RBCLW_FAIL2 (INT32)

Roboclaw Driver Channel 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see RBCLW_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	257		-1

RBCLW_FUNC1 (INT32)

Roboclaw Driver Channel 1 Output Function.

Select what should be output on Roboclaw Driver Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

RBCLW_FUNC2 (INT32)

Roboclaw Driver Channel 2 Output Function.

Select what should be output on Roboclaw Driver Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

RBCLW_MAX1 (INT32)

Roboclaw Driver Channel 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	128	256		256

RBCLW_MAX2 (INT32)

Roboclaw Driver Channel 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	128	256		256

RBCLW_MIN1 (INT32)

Roboclaw Driver Channel 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1	128		1

RBCLW_MIN2 (INT32)

Roboclaw Driver Channel 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	1	128		1

RBCLW_REV (INT32)

Reverse Output Range for Roboclaw Driver.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: Roboclaw Driver Channel 1
• 1: Roboclaw Driver Channel 2

Reboot	minValue	maxValue	increment	default	unit
	0	3		0

SIM_GZ_EC_DIS1 (INT32)

SIM_GZ ESC 1 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_DIS2 (INT32)

SIM_GZ ESC 2 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_DIS3 (INT32)

SIM_GZ ESC 3 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_DIS4 (INT32)

SIM_GZ ESC 4 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_DIS5 (INT32)

SIM_GZ ESC 5 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_DIS6 (INT32)

SIM_GZ ESC 6 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_DIS7 (INT32)

SIM_GZ ESC 7 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_DIS8 (INT32)

SIM_GZ ESC 8 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_FAIL1 (INT32)

SIM_GZ ESC 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_EC_FAIL2 (INT32)

SIM_GZ ESC 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_EC_FAIL3 (INT32)

SIM_GZ ESC 3 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_EC_FAIL4 (INT32)

SIM_GZ ESC 4 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC4).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_EC_FAIL5 (INT32)

SIM_GZ ESC 5 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC5).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_EC_FAIL6 (INT32)

SIM_GZ ESC 6 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC6).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_EC_FAIL7 (INT32)

SIM_GZ ESC 7 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC7).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_EC_FAIL8 (INT32)

SIM_GZ ESC 8 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC8).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_EC_FUNC1 (INT32)

SIM_GZ ESC 1 Output Function.

Select what should be output on SIM_GZ ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_EC_FUNC2 (INT32)

SIM_GZ ESC 2 Output Function.

Select what should be output on SIM_GZ ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_EC_FUNC3 (INT32)

SIM_GZ ESC 3 Output Function.

Select what should be output on SIM_GZ ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_EC_FUNC4 (INT32)

SIM_GZ ESC 4 Output Function.

Select what should be output on SIM_GZ ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_EC_FUNC5 (INT32)

SIM_GZ ESC 5 Output Function.

Select what should be output on SIM_GZ ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_EC_FUNC6 (INT32)

SIM_GZ ESC 6 Output Function.

Select what should be output on SIM_GZ ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_EC_FUNC7 (INT32)

SIM_GZ ESC 7 Output Function.

Select what should be output on SIM_GZ ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_EC_FUNC8 (INT32)

SIM_GZ ESC 8 Output Function.

Select what should be output on SIM_GZ ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_EC_MAX1 (INT32)

SIM_GZ ESC 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_EC_MAX2 (INT32)

SIM_GZ ESC 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_EC_MAX3 (INT32)

SIM_GZ ESC 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_EC_MAX4 (INT32)

SIM_GZ ESC 4 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_EC_MAX5 (INT32)

SIM_GZ ESC 5 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_EC_MAX6 (INT32)

SIM_GZ ESC 6 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_EC_MAX7 (INT32)

SIM_GZ ESC 7 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_EC_MAX8 (INT32)

SIM_GZ ESC 8 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_EC_MIN1 (INT32)

SIM_GZ ESC 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_MIN2 (INT32)

SIM_GZ ESC 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_MIN3 (INT32)

SIM_GZ ESC 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_MIN4 (INT32)

SIM_GZ ESC 4 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_MIN5 (INT32)

SIM_GZ ESC 5 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_MIN6 (INT32)

SIM_GZ ESC 6 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_MIN7 (INT32)

SIM_GZ ESC 7 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_MIN8 (INT32)

SIM_GZ ESC 8 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_EC_REV (INT32)

Reverse Output Range for SIM_GZ.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: SIM_GZ ESC 1
• 1: SIM_GZ ESC 2
• 2: SIM_GZ ESC 3
• 3: SIM_GZ ESC 4
• 4: SIM_GZ ESC 5
• 5: SIM_GZ ESC 6
• 6: SIM_GZ ESC 7
• 7: SIM_GZ ESC 8

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

SIM_GZ_SV_DIS1 (INT32)

SIM_GZ Servo 1 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

SIM_GZ_SV_DIS2 (INT32)

SIM_GZ Servo 2 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

SIM_GZ_SV_DIS3 (INT32)

SIM_GZ Servo 3 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

SIM_GZ_SV_DIS4 (INT32)

SIM_GZ Servo 4 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

SIM_GZ_SV_DIS5 (INT32)

SIM_GZ Servo 5 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

SIM_GZ_SV_DIS6 (INT32)

SIM_GZ Servo 6 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

SIM_GZ_SV_DIS7 (INT32)

SIM_GZ Servo 7 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

SIM_GZ_SV_DIS8 (INT32)

SIM_GZ Servo 8 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

SIM_GZ_SV_FAIL1 (INT32)

SIM_GZ Servo 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_SV_FAIL2 (INT32)

SIM_GZ Servo 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_SV_FAIL3 (INT32)

SIM_GZ Servo 3 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_SV_FAIL4 (INT32)

SIM_GZ Servo 4 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC4).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_SV_FAIL5 (INT32)

SIM_GZ Servo 5 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC5).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_SV_FAIL6 (INT32)

SIM_GZ Servo 6 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC6).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_SV_FAIL7 (INT32)

SIM_GZ Servo 7 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC7).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_SV_FAIL8 (INT32)

SIM_GZ Servo 8 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC8).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

SIM_GZ_SV_FUNC1 (INT32)

SIM_GZ Servo 1 Output Function.

Select what should be output on SIM_GZ Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_SV_FUNC2 (INT32)

SIM_GZ Servo 2 Output Function.

Select what should be output on SIM_GZ Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_SV_FUNC3 (INT32)

SIM_GZ Servo 3 Output Function.

Select what should be output on SIM_GZ Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_SV_FUNC4 (INT32)

SIM_GZ Servo 4 Output Function.

Select what should be output on SIM_GZ Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_SV_FUNC5 (INT32)

SIM_GZ Servo 5 Output Function.

Select what should be output on SIM_GZ Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_SV_FUNC6 (INT32)

SIM_GZ Servo 6 Output Function.

Select what should be output on SIM_GZ Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_SV_FUNC7 (INT32)

SIM_GZ Servo 7 Output Function.

Select what should be output on SIM_GZ Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_SV_FUNC8 (INT32)

SIM_GZ Servo 8 Output Function.

Select what should be output on SIM_GZ Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_SV_MAX1 (INT32)

SIM_GZ Servo 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_SV_MAX2 (INT32)

SIM_GZ Servo 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_SV_MAX3 (INT32)

SIM_GZ Servo 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_SV_MAX4 (INT32)

SIM_GZ Servo 4 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_SV_MAX5 (INT32)

SIM_GZ Servo 5 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_SV_MAX6 (INT32)

SIM_GZ Servo 6 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_SV_MAX7 (INT32)

SIM_GZ Servo 7 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_SV_MAX8 (INT32)

SIM_GZ Servo 8 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

SIM_GZ_SV_MIN1 (INT32)

SIM_GZ Servo 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_SV_MIN2 (INT32)

SIM_GZ Servo 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_SV_MIN3 (INT32)

SIM_GZ Servo 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_SV_MIN4 (INT32)

SIM_GZ Servo 4 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_SV_MIN5 (INT32)

SIM_GZ Servo 5 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_SV_MIN6 (INT32)

SIM_GZ Servo 6 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_SV_MIN7 (INT32)

SIM_GZ Servo 7 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_SV_MIN8 (INT32)

SIM_GZ Servo 8 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

SIM_GZ_SV_REV (INT32)

Reverse Output Range for SIM_GZ.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: SIM_GZ Servo 1
• 1: SIM_GZ Servo 2
• 2: SIM_GZ Servo 3
• 3: SIM_GZ Servo 4
• 4: SIM_GZ Servo 5
• 5: SIM_GZ Servo 6
• 6: SIM_GZ Servo 7
• 7: SIM_GZ Servo 8

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

SIM_GZ_WH_DIS1 (INT32)

SIM_GZ Wheels 1 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	200		100

SIM_GZ_WH_DIS2 (INT32)

SIM_GZ Wheels 2 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	200		100

SIM_GZ_WH_FAIL1 (INT32)

SIM_GZ Wheels 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	200		-1

SIM_GZ_WH_FAIL2 (INT32)

SIM_GZ Wheels 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	200		-1

SIM_GZ_WH_FUNC1 (INT32)

SIM_GZ Wheels 1 Output Function.

Select what should be output on SIM_GZ Wheels 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_WH_FUNC2 (INT32)

SIM_GZ Wheels 2 Output Function.

Select what should be output on SIM_GZ Wheels 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_WH_MAX1 (INT32)

SIM_GZ Wheels 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	200		200

SIM_GZ_WH_MAX2 (INT32)

SIM_GZ Wheels 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	200		200

SIM_GZ_WH_MIN1 (INT32)

SIM_GZ Wheels 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	200		0

SIM_GZ_WH_MIN2 (INT32)

SIM_GZ Wheels 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	200		0

SIM_GZ_WH_REV (INT32)

Reverse Output Range for SIM_GZ.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: SIM_GZ Wheels 1
• 1: SIM_GZ Wheels 2

Reboot	minValue	maxValue	increment	default	unit
	0	3		0

TAP_ESC_FUNC1 (INT32)

TAP ESC Output ESC 1 Output Function.

Select what should be output on TAP ESC Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

TAP_ESC_FUNC2 (INT32)

TAP ESC Output ESC 2 Output Function.

Select what should be output on TAP ESC Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

TAP_ESC_FUNC3 (INT32)

TAP ESC Output ESC 3 Output Function.

Select what should be output on TAP ESC Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

TAP_ESC_FUNC4 (INT32)

TAP ESC Output ESC 4 Output Function.

Select what should be output on TAP ESC Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

TAP_ESC_FUNC5 (INT32)

TAP ESC Output ESC 5 Output Function.

Select what should be output on TAP ESC Output ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

TAP_ESC_FUNC6 (INT32)

TAP ESC Output ESC 6 Output Function.

Select what should be output on TAP ESC Output ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

TAP_ESC_FUNC7 (INT32)

TAP ESC Output ESC 7 Output Function.

Select what should be output on TAP ESC Output ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

TAP_ESC_FUNC8 (INT32)

TAP ESC Output ESC 8 Output Function.

Select what should be output on TAP ESC Output ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

TAP_ESC_REV (INT32)

Reverse Output Range for TAP ESC Output.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: TAP ESC Output ESC 1
• 1: TAP ESC Output ESC 2
• 2: TAP ESC Output ESC 3
• 3: TAP ESC Output ESC 4
• 4: TAP ESC Output ESC 5
• 5: TAP ESC Output ESC 6
• 6: TAP ESC Output ESC 7
• 7: TAP ESC Output ESC 8

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

UAVCAN_EC_FAIL1 (INT32)

UAVCAN ESC 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UAVCAN_EC_FAIL2 (INT32)

UAVCAN ESC 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UAVCAN_EC_FAIL3 (INT32)

UAVCAN ESC 3 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UAVCAN_EC_FAIL4 (INT32)

UAVCAN ESC 4 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC4).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UAVCAN_EC_FAIL5 (INT32)

UAVCAN ESC 5 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC5).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UAVCAN_EC_FAIL6 (INT32)

UAVCAN ESC 6 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC6).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UAVCAN_EC_FAIL7 (INT32)

UAVCAN ESC 7 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC7).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UAVCAN_EC_FAIL8 (INT32)

UAVCAN ESC 8 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC8).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UAVCAN_EC_FUNC1 (INT32)

UAVCAN ESC 1 Output Function.

Select what should be output on UAVCAN ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_EC_FUNC2 (INT32)

UAVCAN ESC 2 Output Function.

Select what should be output on UAVCAN ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_EC_FUNC3 (INT32)

UAVCAN ESC 3 Output Function.

Select what should be output on UAVCAN ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_EC_FUNC4 (INT32)

UAVCAN ESC 4 Output Function.

Select what should be output on UAVCAN ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_EC_FUNC5 (INT32)

UAVCAN ESC 5 Output Function.

Select what should be output on UAVCAN ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_EC_FUNC6 (INT32)

UAVCAN ESC 6 Output Function.

Select what should be output on UAVCAN ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_EC_FUNC7 (INT32)

UAVCAN ESC 7 Output Function.

Select what should be output on UAVCAN ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_EC_FUNC8 (INT32)

UAVCAN ESC 8 Output Function.

Select what should be output on UAVCAN ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_EC_MAX1 (INT32)

UAVCAN ESC 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UAVCAN_EC_MAX2 (INT32)

UAVCAN ESC 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UAVCAN_EC_MAX3 (INT32)

UAVCAN ESC 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UAVCAN_EC_MAX4 (INT32)

UAVCAN ESC 4 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UAVCAN_EC_MAX5 (INT32)

UAVCAN ESC 5 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UAVCAN_EC_MAX6 (INT32)

UAVCAN ESC 6 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UAVCAN_EC_MAX7 (INT32)

UAVCAN ESC 7 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UAVCAN_EC_MAX8 (INT32)

UAVCAN ESC 8 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UAVCAN_EC_MIN1 (INT32)

UAVCAN ESC 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UAVCAN_EC_MIN2 (INT32)

UAVCAN ESC 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UAVCAN_EC_MIN3 (INT32)

UAVCAN ESC 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UAVCAN_EC_MIN4 (INT32)

UAVCAN ESC 4 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UAVCAN_EC_MIN5 (INT32)

UAVCAN ESC 5 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UAVCAN_EC_MIN6 (INT32)

UAVCAN ESC 6 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UAVCAN_EC_MIN7 (INT32)

UAVCAN ESC 7 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UAVCAN_EC_MIN8 (INT32)

UAVCAN ESC 8 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UAVCAN_EC_REV (INT32)

Reverse Output Range for UAVCAN.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: UAVCAN ESC 1
• 1: UAVCAN ESC 2
• 2: UAVCAN ESC 3
• 3: UAVCAN ESC 4
• 4: UAVCAN ESC 5
• 5: UAVCAN ESC 6
• 6: UAVCAN ESC 7
• 7: UAVCAN ESC 8

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

UAVCAN_SV_DIS1 (INT32)

UAVCAN Servo 1 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

UAVCAN_SV_DIS2 (INT32)

UAVCAN Servo 2 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

UAVCAN_SV_DIS3 (INT32)

UAVCAN Servo 3 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

UAVCAN_SV_DIS4 (INT32)

UAVCAN Servo 4 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

UAVCAN_SV_DIS5 (INT32)

UAVCAN Servo 5 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

UAVCAN_SV_DIS6 (INT32)

UAVCAN Servo 6 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

UAVCAN_SV_DIS7 (INT32)

UAVCAN Servo 7 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

UAVCAN_SV_DIS8 (INT32)

UAVCAN Servo 8 Disarmed Value.

This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		500

UAVCAN_SV_FAIL1 (INT32)

UAVCAN Servo 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

UAVCAN_SV_FAIL2 (INT32)

UAVCAN Servo 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

UAVCAN_SV_FAIL3 (INT32)

UAVCAN Servo 3 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

UAVCAN_SV_FAIL4 (INT32)

UAVCAN Servo 4 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC4).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

UAVCAN_SV_FAIL5 (INT32)

UAVCAN Servo 5 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC5).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

UAVCAN_SV_FAIL6 (INT32)

UAVCAN Servo 6 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC6).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

UAVCAN_SV_FAIL7 (INT32)

UAVCAN Servo 7 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC7).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

UAVCAN_SV_FAIL8 (INT32)

UAVCAN Servo 8 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC8).

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1

UAVCAN_SV_FUNC1 (INT32)

UAVCAN Servo 1 Output Function.

Select what should be output on UAVCAN Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_SV_FUNC2 (INT32)

UAVCAN Servo 2 Output Function.

Select what should be output on UAVCAN Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_SV_FUNC3 (INT32)

UAVCAN Servo 3 Output Function.

Select what should be output on UAVCAN Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_SV_FUNC4 (INT32)

UAVCAN Servo 4 Output Function.

Select what should be output on UAVCAN Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_SV_FUNC5 (INT32)

UAVCAN Servo 5 Output Function.

Select what should be output on UAVCAN Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_SV_FUNC6 (INT32)

UAVCAN Servo 6 Output Function.

Select what should be output on UAVCAN Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_SV_FUNC7 (INT32)

UAVCAN Servo 7 Output Function.

Select what should be output on UAVCAN Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_SV_FUNC8 (INT32)

UAVCAN Servo 8 Output Function.

Select what should be output on UAVCAN Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UAVCAN_SV_MAX1 (INT32)

UAVCAN Servo 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

UAVCAN_SV_MAX2 (INT32)

UAVCAN Servo 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

UAVCAN_SV_MAX3 (INT32)

UAVCAN Servo 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

UAVCAN_SV_MAX4 (INT32)

UAVCAN Servo 4 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

UAVCAN_SV_MAX5 (INT32)

UAVCAN Servo 5 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

UAVCAN_SV_MAX6 (INT32)

UAVCAN Servo 6 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

UAVCAN_SV_MAX7 (INT32)

UAVCAN Servo 7 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

UAVCAN_SV_MAX8 (INT32)

UAVCAN Servo 8 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

UAVCAN_SV_MIN1 (INT32)

UAVCAN Servo 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

UAVCAN_SV_MIN2 (INT32)

UAVCAN Servo 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

UAVCAN_SV_MIN3 (INT32)

UAVCAN Servo 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

UAVCAN_SV_MIN4 (INT32)

UAVCAN Servo 4 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

UAVCAN_SV_MIN5 (INT32)

UAVCAN Servo 5 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

UAVCAN_SV_MIN6 (INT32)

UAVCAN Servo 6 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

UAVCAN_SV_MIN7 (INT32)

UAVCAN Servo 7 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

UAVCAN_SV_MIN8 (INT32)

UAVCAN Servo 8 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	1000		0

UAVCAN_SV_REV (INT32)

Reverse Output Range for UAVCAN.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: UAVCAN Servo 1
• 1: UAVCAN Servo 2
• 2: UAVCAN Servo 3
• 3: UAVCAN Servo 4
• 4: UAVCAN Servo 5
• 5: UAVCAN Servo 6
• 6: UAVCAN Servo 7
• 7: UAVCAN Servo 8

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

UCAN1_ESC_FAIL1 (INT32)

UAVCANv1 ESC 1 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL10 (INT32)

UAVCANv1 ESC 10 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC10).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL11 (INT32)

UAVCANv1 ESC 11 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC11).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL12 (INT32)

UAVCANv1 ESC 12 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC12).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL13 (INT32)

UAVCANv1 ESC 13 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC13).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL14 (INT32)

UAVCANv1 ESC 14 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC14).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL15 (INT32)

UAVCANv1 ESC 15 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC15).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL16 (INT32)

UAVCANv1 ESC 16 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC16).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL2 (INT32)

UAVCANv1 ESC 2 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL3 (INT32)

UAVCANv1 ESC 3 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL4 (INT32)

UAVCANv1 ESC 4 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC4).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL5 (INT32)

UAVCANv1 ESC 5 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC5).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL6 (INT32)

UAVCANv1 ESC 6 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC6).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL7 (INT32)

UAVCANv1 ESC 7 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC7).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL8 (INT32)

UAVCANv1 ESC 8 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC8).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FAIL9 (INT32)

UAVCANv1 ESC 9 Failsafe Value.

This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC9).

Reboot	minValue	maxValue	increment	default	unit
	-1	8191		-1

UCAN1_ESC_FUNC1 (INT32)

UAVCANv1 ESC 1 Output Function.

Select what should be output on UAVCANv1 ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC10 (INT32)

UAVCANv1 ESC 10 Output Function.

Select what should be output on UAVCANv1 ESC 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC11 (INT32)

UAVCANv1 ESC 11 Output Function.

Select what should be output on UAVCANv1 ESC 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC12 (INT32)

UAVCANv1 ESC 12 Output Function.

Select what should be output on UAVCANv1 ESC 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC13 (INT32)

UAVCANv1 ESC 13 Output Function.

Select what should be output on UAVCANv1 ESC 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC14 (INT32)

UAVCANv1 ESC 14 Output Function.

Select what should be output on UAVCANv1 ESC 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC15 (INT32)

UAVCANv1 ESC 15 Output Function.

Select what should be output on UAVCANv1 ESC 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC16 (INT32)

UAVCANv1 ESC 16 Output Function.

Select what should be output on UAVCANv1 ESC 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC2 (INT32)

UAVCANv1 ESC 2 Output Function.

Select what should be output on UAVCANv1 ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC3 (INT32)

UAVCANv1 ESC 3 Output Function.

Select what should be output on UAVCANv1 ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC4 (INT32)

UAVCANv1 ESC 4 Output Function.

Select what should be output on UAVCANv1 ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC5 (INT32)

UAVCANv1 ESC 5 Output Function.

Select what should be output on UAVCANv1 ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC6 (INT32)

UAVCANv1 ESC 6 Output Function.

Select what should be output on UAVCANv1 ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC7 (INT32)

UAVCANv1 ESC 7 Output Function.

Select what should be output on UAVCANv1 ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC8 (INT32)

UAVCANv1 ESC 8 Output Function.

Select what should be output on UAVCANv1 ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_FUNC9 (INT32)

UAVCANv1 ESC 9 Output Function.

Select what should be output on UAVCANv1 ESC 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

UCAN1_ESC_MAX1 (INT32)

UAVCANv1 ESC 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX10 (INT32)

UAVCANv1 ESC 10 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX11 (INT32)

UAVCANv1 ESC 11 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX12 (INT32)

UAVCANv1 ESC 12 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX13 (INT32)

UAVCANv1 ESC 13 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX14 (INT32)

UAVCANv1 ESC 14 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX15 (INT32)

UAVCANv1 ESC 15 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX16 (INT32)

UAVCANv1 ESC 16 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX2 (INT32)

UAVCANv1 ESC 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX3 (INT32)

UAVCANv1 ESC 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX4 (INT32)

UAVCANv1 ESC 4 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX5 (INT32)

UAVCANv1 ESC 5 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX6 (INT32)

UAVCANv1 ESC 6 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX7 (INT32)

UAVCANv1 ESC 7 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX8 (INT32)

UAVCANv1 ESC 8 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MAX9 (INT32)

UAVCANv1 ESC 9 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		8191

UCAN1_ESC_MIN1 (INT32)

UAVCANv1 ESC 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN10 (INT32)

UAVCANv1 ESC 10 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN11 (INT32)

UAVCANv1 ESC 11 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN12 (INT32)

UAVCANv1 ESC 12 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN13 (INT32)

UAVCANv1 ESC 13 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN14 (INT32)

UAVCANv1 ESC 14 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN15 (INT32)

UAVCANv1 ESC 15 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN16 (INT32)

UAVCANv1 ESC 16 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN2 (INT32)

UAVCANv1 ESC 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN3 (INT32)

UAVCANv1 ESC 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN4 (INT32)

UAVCANv1 ESC 4 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN5 (INT32)

UAVCANv1 ESC 5 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN6 (INT32)

UAVCANv1 ESC 6 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN7 (INT32)

UAVCANv1 ESC 7 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN8 (INT32)

UAVCANv1 ESC 8 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_MIN9 (INT32)

UAVCANv1 ESC 9 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	8191		1

UCAN1_ESC_REV (INT32)

Reverse Output Range for UAVCANv1.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: UAVCANv1 ESC 1
• 1: UAVCANv1 ESC 2
• 2: UAVCANv1 ESC 3
• 3: UAVCANv1 ESC 4
• 4: UAVCANv1 ESC 5
• 5: UAVCANv1 ESC 6
• 6: UAVCANv1 ESC 7
• 7: UAVCANv1 ESC 8
• 8: UAVCANv1 ESC 9
• 9: UAVCANv1 ESC 10
• 10: UAVCANv1 ESC 11
• 11: UAVCANv1 ESC 12
• 12: UAVCANv1 ESC 13
• 13: UAVCANv1 ESC 14
• 14: UAVCANv1 ESC 15
• 15: UAVCANv1 ESC 16

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VOXL2_IO_FUNC1 (INT32)

VOXL2 IO Output PWM Channel 1 Output Function.

Select what should be output on VOXL2 IO Output PWM Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL2_IO_FUNC2 (INT32)

VOXL2 IO Output PWM Channel 2 Output Function.

Select what should be output on VOXL2 IO Output PWM Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL2_IO_FUNC3 (INT32)

VOXL2 IO Output PWM Channel 3 Output Function.

Select what should be output on VOXL2 IO Output PWM Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL2_IO_FUNC4 (INT32)

VOXL2 IO Output PWM Channel 4 Output Function.

Select what should be output on VOXL2 IO Output PWM Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL2_IO_REV (INT32)

Reverse Output Range for VOXL2 IO Output.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: VOXL2 IO Output PWM Channel 1
• 1: VOXL2 IO Output PWM Channel 2
• 2: VOXL2 IO Output PWM Channel 3
• 3: VOXL2 IO Output PWM Channel 4

Reboot	minValue	maxValue	increment	default	unit
	0	15		0

VOXL_ESC_FUNC1 (INT32)

VOXL ESC Output ESC 1 Output Function.

Select what should be output on VOXL ESC Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL_ESC_FUNC2 (INT32)

VOXL ESC Output ESC 2 Output Function.

Select what should be output on VOXL ESC Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL_ESC_FUNC3 (INT32)

VOXL ESC Output ESC 3 Output Function.

Select what should be output on VOXL ESC Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL_ESC_FUNC4 (INT32)

VOXL ESC Output ESC 4 Output Function.

Select what should be output on VOXL ESC Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest

Values:

• 0: Disabled
• 1: Constant Min
• 2: Constant Max
• 101: Motor 1
• 102: Motor 2
• 103: Motor 3
• 104: Motor 4
• 105: Motor 5
• 106: Motor 6
• 107: Motor 7
• 108: Motor 8
• 109: Motor 9
• 110: Motor 10
• 111: Motor 11
• 112: Motor 12
• 201: Servo 1
• 202: Servo 2
• 203: Servo 3
• 204: Servo 4
• 205: Servo 5
• 206: Servo 6
• 207: Servo 7
• 208: Servo 8
• 301: Peripheral via Actuator Set 1
• 302: Peripheral via Actuator Set 2
• 303: Peripheral via Actuator Set 3
• 304: Peripheral via Actuator Set 4
• 305: Peripheral via Actuator Set 5
• 306: Peripheral via Actuator Set 6
• 400: Landing Gear
• 401: Parachute
• 402: RC Roll
• 403: RC Pitch
• 404: RC Throttle
• 405: RC Yaw
• 406: RC Flaps
• 407: RC AUX 1
• 408: RC AUX 2
• 409: RC AUX 3
• 410: RC AUX 4
• 411: RC AUX 5
• 412: RC AUX 6
• 420: Gimbal Roll
• 421: Gimbal Pitch
• 422: Gimbal Yaw
• 430: Gripper
• 440: Landing Gear Wheel

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL_ESC_REV (INT32)

Reverse Output Range for VOXL ESC Output.

Allows to reverse the output range for each channel. Note: this is only useful for servos.

Bitmask:

• 0: VOXL ESC Output ESC 1
• 1: VOXL ESC Output ESC 2
• 2: VOXL ESC Output ESC 3
• 3: VOXL ESC Output ESC 4

Reboot	minValue	maxValue	increment	default	unit
	0	15		0

Airspeed Validator

ASPD_BETA_GATE (INT32)

Gate size for sideslip angle fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1	5		1	SD

ASPD_BETA_NOISE (FLOAT)

Wind estimator sideslip measurement noise.

Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.15	rad

ASPD_DO_CHECKS (INT32)

Enable checks on airspeed sensors.

Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.

Bitmask:

• 0: Only data missing check (triggers if more than 1s no data)
• 1: Data stuck (triggers if data is exactly constant for 2s in FW mode)
• 2: Innovation check (see ASPD_FS_INNOV)
• 3: Load factor check (triggers if measurement is below stall speed)
• 4: First principle check (airspeed change vs. throttle and pitch)

Reboot	minValue	maxValue	increment	default	unit
	0	31		7

ASPD_FALLBACK_GW (INT32)

Enable fallback to sensor-less airspeed estimation.

If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.

Values:

• 0: Disable fallback to sensor-less estimation
• 1: Enable fallback to sensor-less estimation

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

ASPD_FP_T_WINDOW (FLOAT)

First principle airspeed check time window.

Window for comparing airspeed change to throttle and pitch change. Triggers when the airspeed change within this window is negative while throttle increases and the vehicle pitches down. Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions. Relies on FW_THR_TRIM being set accurately.

Reboot	minValue	maxValue	increment	default	unit
	0			2.0	s

ASPD_FS_INNOV (FLOAT)

Airspeed failure innovation threshold.

This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.

Reboot	minValue	maxValue	increment	default	unit
	0.5	10.0		5.	m/s

ASPD_FS_INTEG (FLOAT)

Airspeed failure innovation integral threshold.

This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe. Larger values make the check less sensitive, smaller positive values make it more sensitive.

Reboot	minValue	maxValue	increment	default	unit
	0.0	50.0		10.	m

ASPD_FS_T_START (FLOAT)

Airspeed failsafe start delay.

Delay before switching back to using airspeed sensor if checks indicate sensor is good. Set to a negative value to disable the re-enabling in flight.

Reboot	minValue	maxValue	increment	default	unit
	-1.0			-1.	s

ASPD_FS_T_STOP (FLOAT)

Airspeed failsafe stop delay.

Delay before stopping use of airspeed sensor if checks indicate sensor is bad.

Reboot	minValue	maxValue	increment	default	unit
	0.0			1.	s

ASPD_PRIMARY (INT32)

Index or primary airspeed measurement source.

Values:

• 0: Groundspeed minus windspeed
• 1: First airspeed sensor
• 2: Second airspeed sensor
• 3: Third airspeed sensor

Reboot	minValue	maxValue	increment	default	unit
✓				1

ASPD_SCALE_1 (FLOAT)

Scale of airspeed sensor 1.

This is the scale IAS --> CAS of the first airspeed sensor instance

Reboot	minValue	maxValue	increment	default	unit
✓	0.5	2.0		1.0

ASPD_SCALE_2 (FLOAT)

Scale of airspeed sensor 2.

This is the scale IAS --> CAS of the second airspeed sensor instance

Reboot	minValue	maxValue	increment	default	unit
✓	0.5	2.0		1.0

ASPD_SCALE_3 (FLOAT)

Scale of airspeed sensor 3.

This is the scale IAS --> CAS of the third airspeed sensor instance

Reboot	minValue	maxValue	increment	default	unit
✓	0.5	2.0		1.0

ASPD_SCALE_APPLY (INT32)

Controls when to apply the new estimated airspeed scale(s).

Values:

• 0: Do not automatically apply the estimated scale
• 1: Apply the estimated scale after disarm
• 2: Apply the estimated scale in air

Reboot	minValue	maxValue	increment	default	unit
				2

ASPD_SCALE_NSD (FLOAT)

Wind estimator true airspeed scale process noise spectral density.

Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.

Reboot	minValue	maxValue	increment	default	unit
	0	0.1		1.e-4	1/s/sqrt(Hz)

ASPD_TAS_GATE (INT32)

Gate size for true airspeed fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1	5		4	SD

ASPD_TAS_NOISE (FLOAT)

Wind estimator true airspeed measurement noise.

True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.

Reboot	minValue	maxValue	increment	default	unit
	0	4		1.4	m/s

ASPD_WERR_THR (FLOAT)

Horizontal wind uncertainty threshold for synthetic airspeed.

The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty is below this value.

Reboot	minValue	maxValue	increment	default	unit
	0.001	5		0.55	m/s

ASPD_WIND_NSD (FLOAT)

Wind estimator wind process noise spectral density.

Wind process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.

Reboot	minValue	maxValue	increment	default	unit
	0	1		1.e-1	m/s^2/sqrt(Hz)

Attitude Q estimator

ATT_ACC_COMP (INT32)

Acceleration compensation based on GPS velocity.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

ATT_BIAS_MAX (FLOAT)

Gyro bias limit.

Reboot	minValue	maxValue	increment	default	unit
	0	2		0.05	rad/s

ATT_EN (INT32)

standalone attitude estimator enable (unsupported).

Enable standalone quaternion based attitude estimator.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

ATT_EXT_HDG_M (INT32)

External heading usage mode (from Motion capture/Vision).

Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture.

Values:

• 0: None
• 1: Vision
• 2: Motion Capture

Reboot	minValue	maxValue	increment	default	unit
	0	2		0

ATT_MAG_DECL (FLOAT)

Magnetic declination, in degrees.

This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.

Reboot	minValue	maxValue	increment	default	unit
				0.0	deg

ATT_MAG_DECL_A (INT32)

Automatic GPS based declination compensation.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

ATT_W_ACC (FLOAT)

Complimentary filter accelerometer weight.

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.2

ATT_W_EXT_HDG (FLOAT)

Complimentary filter external heading weight.

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.1

ATT_W_GYRO_BIAS (FLOAT)

Complimentary filter gyroscope bias weight.

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.1

ATT_W_MAG (FLOAT)

Complimentary filter magnetometer weight.

Set to 0 to avoid using the magnetometer.

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.1

Autotune

FW_AT_APPLY (INT32)

Controls when to apply the new gains.

After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing.

Values:

• 0: Do not apply the new gains (logging only)
• 1: Apply the new gains after disarm
• 2: Apply the new gains in air

Reboot	minValue	maxValue	increment	default	unit
				2

FW_AT_AXES (INT32)

Tuning axes selection.

Defines which axes will be tuned during the auto-tuning sequence Set bits in the following positions to enable: 0 : Roll 1 : Pitch 2 : Yaw

Bitmask:

• 0: roll
• 1: pitch
• 2: yaw

Reboot	minValue	maxValue	increment	default	unit
	1	7		3

FW_AT_MAN_AUX (INT32)

Enable/disable auto tuning using an RC AUX input.

Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.

Values:

• 0: Disable
• 1: Aux1
• 2: Aux2
• 3: Aux3
• 4: Aux4
• 5: Aux5
• 6: Aux6

Reboot	minValue	maxValue	increment	default	unit
	0	6		0

FW_AT_START (INT32)

Start the autotuning sequence.

WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using FW_AT_SYSID_AMP for more signal/noise ratio

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

FW_AT_SYSID_AMP (FLOAT)

Amplitude of the injected signal.

This parameter scales the signal sent to the rate controller during system identification.

Reboot	minValue	maxValue	increment	default	unit
	0.1	6.0		1.0

FW_AT_SYSID_F0 (FLOAT)

Start frequency of the injected signal.

Can be set lower or higher than the end frequency

Reboot	minValue	maxValue	increment	default	unit
	0.1	30.0		1.	Hz

FW_AT_SYSID_F1 (FLOAT)

End frequency of the injected signal.

Can be set lower or higher than the start frequency

Reboot	minValue	maxValue	increment	default	unit
	0.1	30.0		20.	Hz

FW_AT_SYSID_TIME (FLOAT)

Maneuver time for each axis.

Duration of the input signal sent on each axis during system identification

Reboot	minValue	maxValue	increment	default	unit
	5	120		10.	s

FW_AT_SYSID_TYPE (INT32)

Input signal type.

Type of signal used during system identification to excite the system.

Values:

• 0: Step
• 1: Linear sine sweep
• 2: Logarithmic sine sweep

Reboot	minValue	maxValue	increment	default	unit
				0

MC_AT_APPLY (INT32)

Controls when to apply the new gains.

After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.

Values:

• 0: Do not apply the new gains (logging only)
• 1: Apply the new gains after disarm
• 2: WARNING Apply the new gains in air

Reboot	minValue	maxValue	increment	default	unit
				1

MC_AT_EN (INT32)

Multicopter autotune module enable.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

MC_AT_RISE_TIME (FLOAT)

Desired angular rate closed-loop rise time.

Reboot	minValue	maxValue	increment	default	unit
	0.01	0.5		0.14	s

MC_AT_START (INT32)

Start the autotuning sequence.

WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC_AT_SYSID_AMP for more signal/noise ratio

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

MC_AT_SYSID_AMP (FLOAT)

Amplitude of the injected signal.

Reboot	minValue	maxValue	increment	default	unit
	0.1	6.0		0.7

Battery Calibration

BAT1_A_PER_V (FLOAT)

Battery 1 current per volt (A/V).

The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.

Reboot	minValue	maxValue	increment	default	unit
✓				-1.0

BAT1_CAPACITY (FLOAT)

Battery 1 capacity.

Defines the capacity of battery 1 in mAh.

Reboot	minValue	maxValue	increment	default	unit
✓	-1.0	100000	50	-1.0	mAh

BAT1_I_CHANNEL (INT32)

Battery 1 Current ADC Channel.

This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.

Reboot	minValue	maxValue	increment	default	unit
✓				-1

BAT1_N_CELLS (INT32)

Number of cells for battery 1.

Defines the number of cells the attached battery consists of.

Values:

• 0: Unknown
• 1: 1S Battery
• 2: 2S Battery
• 3: 3S Battery
• 4: 4S Battery
• 5: 5S Battery
• 6: 6S Battery
• 7: 7S Battery
• 8: 8S Battery
• 9: 9S Battery
• 10: 10S Battery
• 11: 11S Battery
• 12: 12S Battery
• 13: 13S Battery
• 14: 14S Battery
• 15: 15S Battery
• 16: 16S Battery

Reboot	minValue	maxValue	increment	default	unit
				0

BAT1_R_INTERNAL (FLOAT)

Explicitly defines the per cell internal resistance for battery 1.

If non-negative, then this will be used instead of the online estimated internal resistance.

Reboot	minValue	maxValue	increment	default	unit
✓	-1.0	0.2	0.0005	-1.0	Ohm

BAT1_SOURCE (INT32)

Battery 1 monitoring source.

This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

Values:

• -1: Disabled
• 0: Power Module
• 1: External
• 2: ESCs

Reboot	minValue	maxValue	increment	default	unit
✓				0

BAT1_V_CHANNEL (INT32)

Battery 1 Voltage ADC Channel.

This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.

Reboot	minValue	maxValue	increment	default	unit
✓				-1

BAT1_V_CHARGED (FLOAT)

Full cell voltage.

Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V

Reboot	minValue	maxValue	increment	default	unit
✓			0.01	4.05	V

BAT1_V_DIV (FLOAT)

Battery 1 voltage divider (V divider).

This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.

Reboot	minValue	maxValue	increment	default	unit
✓				-1.0

BAT1_V_EMPTY (FLOAT)

Empty cell voltage.

Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.

Reboot	minValue	maxValue	increment	default	unit
✓			0.01	3.6	V

BAT2_A_PER_V (FLOAT)

Battery 2 current per volt (A/V).

The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.

Reboot	minValue	maxValue	increment	default	unit
✓				-1.0

BAT2_CAPACITY (FLOAT)

Battery 2 capacity.

Defines the capacity of battery 2 in mAh.

Reboot	minValue	maxValue	increment	default	unit
✓	-1.0	100000	50	-1.0	mAh

BAT2_I_CHANNEL (INT32)

Battery 2 Current ADC Channel.

This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.

Reboot	minValue	maxValue	increment	default	unit
✓				-1

BAT2_N_CELLS (INT32)

Number of cells for battery 2.

Defines the number of cells the attached battery consists of.

Values:

• 0: Unknown
• 1: 1S Battery
• 2: 2S Battery
• 3: 3S Battery
• 4: 4S Battery
• 5: 5S Battery
• 6: 6S Battery
• 7: 7S Battery
• 8: 8S Battery
• 9: 9S Battery
• 10: 10S Battery
• 11: 11S Battery
• 12: 12S Battery
• 13: 13S Battery
• 14: 14S Battery
• 15: 15S Battery
• 16: 16S Battery

Reboot	minValue	maxValue	increment	default	unit
				0

BAT2_R_INTERNAL (FLOAT)

Explicitly defines the per cell internal resistance for battery 2.

If non-negative, then this will be used instead of the online estimated internal resistance.

Reboot	minValue	maxValue	increment	default	unit
✓	-1.0	0.2	0.0005	-1.0	Ohm

BAT2_SOURCE (INT32)

Battery 2 monitoring source.

This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

Values:

• -1: Disabled
• 0: Power Module
• 1: External
• 2: ESCs

Reboot	minValue	maxValue	increment	default	unit
✓				-1

BAT2_V_CHANNEL (INT32)

Battery 2 Voltage ADC Channel.

This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.

Reboot	minValue	maxValue	increment	default	unit
✓				-1

BAT2_V_CHARGED (FLOAT)

Full cell voltage.

Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V

Reboot	minValue	maxValue	increment	default	unit
✓			0.01	4.05	V

BAT2_V_DIV (FLOAT)

Battery 2 voltage divider (V divider).

This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.

Reboot	minValue	maxValue	increment	default	unit
✓				-1.0

BAT2_V_EMPTY (FLOAT)

Empty cell voltage.

Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.

Reboot	minValue	maxValue	increment	default	unit
✓			0.01	3.6	V

BAT3_CAPACITY (FLOAT)

Battery 3 capacity.

Defines the capacity of battery 3 in mAh.

Reboot	minValue	maxValue	increment	default	unit
✓	-1.0	100000	50	-1.0	mAh

BAT3_N_CELLS (INT32)

Number of cells for battery 3.

Defines the number of cells the attached battery consists of.

Values:

• 0: Unknown
• 1: 1S Battery
• 2: 2S Battery
• 3: 3S Battery
• 4: 4S Battery
• 5: 5S Battery
• 6: 6S Battery
• 7: 7S Battery
• 8: 8S Battery
• 9: 9S Battery
• 10: 10S Battery
• 11: 11S Battery
• 12: 12S Battery
• 13: 13S Battery
• 14: 14S Battery
• 15: 15S Battery
• 16: 16S Battery

Reboot	minValue	maxValue	increment	default	unit
				0

BAT3_R_INTERNAL (FLOAT)

Explicitly defines the per cell internal resistance for battery 3.

If non-negative, then this will be used instead of the online estimated internal resistance.

Reboot	minValue	maxValue	increment	default	unit
✓	-1.0	0.2	0.0005	-1.0	Ohm

BAT3_SOURCE (INT32)

Battery 3 monitoring source.

This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

Values:

• -1: Disabled
• 0: Power Module
• 1: External
• 2: ESCs

Reboot	minValue	maxValue	increment	default	unit
✓				-1

BAT3_V_CHARGED (FLOAT)

Full cell voltage.

Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V

Reboot	minValue	maxValue	increment	default	unit
✓			0.01	4.05	V

BAT3_V_EMPTY (FLOAT)

Empty cell voltage.

Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.

Reboot	minValue	maxValue	increment	default	unit
✓			0.01	3.6	V

BAT_ADC_CHANNEL (INT32)

This parameter is deprecated. Please use BAT1_I_CHANNEL.

Reboot	minValue	maxValue	increment	default	unit
				-1

BAT_AVRG_CURRENT (FLOAT)

Expected battery current in flight.

This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.

Reboot	minValue	maxValue	increment	default	unit
	0	500	0.1	15	A

BAT_CRIT_THR (FLOAT)

Critical threshold.

Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.

Reboot	minValue	maxValue	increment	default	unit
	0.05	0.5	0.01	0.07	norm

BAT_EMERGEN_THR (FLOAT)

Emergency threshold.

Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.

Reboot	minValue	maxValue	increment	default	unit
	0.03	0.5	0.01	0.05	norm

BAT_LOW_THR (FLOAT)

Low threshold.

Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.

Reboot	minValue	maxValue	increment	default	unit
	0.12	0.5	0.01	0.15	norm

BAT_V_OFFS_CURR (FLOAT)

Offset in volt as seen by the ADC input of the current sensor.

This offset will be subtracted before calculating the battery current based on the voltage.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CDCACM

SYS_USB_AUTO (INT32)

Enable USB autostart.

Values:

• 0: Disabled
• 1: Auto-detect
• 2: MAVLink

Reboot	minValue	maxValue	increment	default	unit
✓				2

USB_MAV_MODE (INT32)

Specify USB MAVLink mode.

Values:

• 0: normal
• 1: custom
• 2: onboard
• 3: osd
• 4: magic
• 5: config
• 6: iridium
• 7: minimal
• 8: extvision
• 9: extvisionmin
• 10: gimbal
• 11: onboard_low_bandwidth
• 12: uavionix

Reboot	minValue	maxValue	increment	default	unit
✓				2

Camera Capture

CAM_CAP_DELAY (FLOAT)

Camera strobe delay.

This parameter sets the delay between image integration start and strobe firing

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0	ms

Camera Control

CAM_CAP_EDGE (INT32)

Camera capture edge.

Values:

• 0: Falling edge
• 1: Rising edge

Reboot	minValue	maxValue	increment	default	unit
✓				0

CAM_CAP_FBACK (INT32)

Camera capture feedback.

Enables camera capture feedback

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

CAM_CAP_MODE (INT32)

Camera capture timestamping mode.

Change time measurement

Values:

• 0: Get absolute timestamp
• 1: Get timestamp of mid exposure (active high)
• 2: Get timestamp of mid exposure (active low)

Reboot	minValue	maxValue	increment	default	unit
✓				0

Camera trigger

TRIG_ACT_TIME (FLOAT)

Camera trigger activation time.

This parameter sets the time the trigger needs to pulled high or low.

Reboot	minValue	maxValue	increment	default	unit
✓	0.1	3000		40.0	ms

TRIG_DISTANCE (FLOAT)

Camera trigger distance.

Sets the distance at which to trigger the camera.

Reboot	minValue	maxValue	increment	default	unit
✓	0		1	25.0	m

TRIG_INTERFACE (INT32)

Camera trigger Interface.

Selects the trigger interface

Values:

• 1: GPIO
• 2: Seagull MAP2 (over PWM)
• 3: MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)
• 4: Generic PWM (IR trigger, servo)

Reboot	minValue	maxValue	increment	default	unit
✓				4

TRIG_INTERVAL (FLOAT)

Camera trigger interval.

This parameter sets the time between two consecutive trigger events

Reboot	minValue	maxValue	increment	default	unit
✓	4.0	10000.0		40.0	ms

TRIG_MIN_INTERVA (FLOAT)

Minimum camera trigger interval.

This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.

Reboot	minValue	maxValue	increment	default	unit
✓	1.0	10000.0		1.0	ms

TRIG_MODE (INT32)

Camera trigger mode.

Values:

• 0: Disable
• 1: Time based, on command
• 2: Time based, always on
• 3: Distance based, always on
• 4: Distance based, on command (Survey mode)

Reboot	minValue	maxValue	increment	default	unit
✓	0	4		0

TRIG_POLARITY (INT32)

Camera trigger polarity.

This parameter sets the polarity of the trigger (0 = active low, 1 = active high )

Values:

• 0: Active low
• 1: Active high

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

TRIG_PWM_NEUTRAL (INT32)

PWM neutral output on trigger pin.

Reboot	minValue	maxValue	increment	default	unit
✓	1000	2000		1500	us

TRIG_PWM_SHOOT (INT32)

PWM output to trigger shot.

Reboot	minValue	maxValue	increment	default	unit
✓	1000	2000		1900	us

Circuit Breaker

CBRK_BUZZER (INT32)

Circuit breaker for disabling buzzer.

Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.

Reboot	minValue	maxValue	increment	default	unit
✓	0	782097		0

CBRK_FLIGHTTERM (INT32)

Circuit breaker for flight termination.

Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.

Reboot	minValue	maxValue	increment	default	unit
✓	0	121212		121212

CBRK_IO_SAFETY (INT32)

Circuit breaker for IO safety.

Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot	minValue	maxValue	increment	default	unit
	0	22027		22027

CBRK_SUPPLY_CHK (INT32)

Circuit breaker for power supply check.

Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot	minValue	maxValue	increment	default	unit
	0	894281		0

CBRK_USB_CHK (INT32)

Circuit breaker for USB link check.

Setting this parameter to 197848 will disable the USB connected checks in the commander, setting it to 0 keeps them enabled (recommended). We are generally recommending to not fly with the USB link connected and production vehicles should set this parameter to zero to prevent users from flying USB powered. However, for R&D purposes it has proven over the years to work just fine.

Reboot	minValue	maxValue	increment	default	unit
	0	197848		197848

CBRK_VTOLARMING (INT32)

Circuit breaker for arming in fixed-wing mode check.

Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot	minValue	maxValue	increment	default	unit
	0	159753		0

Commander

COM_ACT_FAIL_ACT (INT32)

Set the actuator failure failsafe mode.

Note: actuator failure needs to be enabled and configured via FD_ACT_* parameters.

Values:

• 0: Warning only
• 1: Hold mode
• 2: Land mode
• 3: Return mode
• 4: Terminate

Reboot	minValue	maxValue	increment	default	unit
	0	3		0

COM_ARMABLE (INT32)

Flag to allow arming.

Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.

Values:

• 0: Disallow arming
• 1: Allow arming

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

COM_ARM_AUTH_ID (INT32)

Arm authorizer system id.

Used if arm authorization is requested by COM_ARM_AUTH_REQ.

Reboot	minValue	maxValue	increment	default	unit
				10

COM_ARM_AUTH_MET (INT32)

Arm authorization method.

Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.

Values:

• 0: one arm
• 1: two step arm

Reboot	minValue	maxValue	increment	default	unit
				0

COM_ARM_AUTH_REQ (INT32)

Require arm authorization to arm.

By default off. The default allows to arm the vehicle without a arm authorization.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

COM_ARM_AUTH_TO (FLOAT)

Arm authorization timeout.

Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.

Reboot	minValue	maxValue	increment	default	unit
			0.1	1	s

COM_ARM_BAT_MIN (FLOAT)

Minimum battery level for arming.

Additional battery level check that only allows arming if the state of charge of the emptiest connected battery is above this value. A value of 0 disables the check.

Reboot	minValue	maxValue	increment	default	unit
	0	0.9	0.01	0.	norm

COM_ARM_CHK_ESCS (INT32)

Enable checks on ESCs that report telemetry.

If this parameter is set, the system will check ESC's online status and failures. This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

COM_ARM_HFLT_CHK (INT32)

Enable FMU SD card hardfault detection check.

This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

COM_ARM_IMU_ACC (FLOAT)

Maximum accelerometer inconsistency between IMU units that will allow arming.

Reboot	minValue	maxValue	increment	default	unit
	0.1	1.0	0.05	0.7	m/s^2

COM_ARM_IMU_GYR (FLOAT)

Maximum rate gyro inconsistency between IMU units that will allow arming.

Reboot	minValue	maxValue	increment	default	unit
	0.02	0.3	0.01	0.25	rad/s

COM_ARM_MAG_ANG (INT32)

Maximum magnetic field inconsistency between units that will allow arming.

Set -1 to disable the check.

Reboot	minValue	maxValue	increment	default	unit
	3	180		60	deg

COM_ARM_MAG_STR (INT32)

Enable mag strength preflight check.

Check if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)

Values:

• 0: Disabled
• 1: Deny arming
• 2: Warning only

Reboot	minValue	maxValue	increment	default	unit
				2

COM_ARM_MIS_REQ (INT32)

Require valid mission to arm.

The default allows to arm the vehicle without a valid mission.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

COM_ARM_ODID (INT32)

Enable Drone ID system detection and health check.

This check detects if the Open Drone ID system is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.

Values:

• 0: Disabled
• 1: Warning only
• 2: Enforce Open Drone ID system presence

Reboot	minValue	maxValue	increment	default	unit
				0

COM_ARM_SDCARD (INT32)

Enable FMU SD card detection check.

This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.

Values:

• 0: Disabled
• 1: Warning only
• 2: Enforce SD card presence

Reboot	minValue	maxValue	increment	default	unit
				1

COM_ARM_SWISBTN (INT32)

Arm switch is a momentary button.

0: Arming/disarming triggers on switch transition. 1: Arming/disarming triggers when holding the momentary button down for COM_RC_ARM_HYST like the stick gesture.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

COM_ARM_WO_GPS (INT32)

GPS preflight check.

Measures taken when a check defined by EKF2_GPS_CHECK is failing.

Values:

• 0: Deny arming
• 1: Warning only
• 2: Disabled

Reboot	minValue	maxValue	increment	default	unit
				1

COM_CPU_MAX (FLOAT)

Maximum allowed CPU load to still arm.

The check fails if the CPU load is above this threshold for 2s. A negative value disables the check.

Reboot	minValue	maxValue	increment	default	unit
	-1	100	1	95.0	%

COM_DISARM_LAND (FLOAT)

Time-out for auto disarm after landing.

A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.

Reboot	minValue	maxValue	increment	default	unit
			0.1	2.0	s

COM_DISARM_MAN (INT32)

Allow disarming via switch/stick/button on multicopters in manual thrust modes.

0: Disallow disarming when not landed 1: Allow disarming in multicopter flight in modes where the thrust is directly controlled by thr throttle stick e.g. Stabilized, Acro

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

COM_DISARM_PRFLT (FLOAT)

Time-out for auto disarm if not taking off.

A non-zero, positive value specifies the time in seconds, within which the vehicle is expected to take off after arming. In case the vehicle didn't takeoff within the timeout it disarms again. A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.

Reboot	minValue	maxValue	increment	default	unit
			0.1	10.0	s

COM_DL_LOSS_T (INT32)

GCS connection loss time threshold.

After this amount of seconds without datalink, the GCS connection lost mode triggers

Reboot	minValue	maxValue	increment	default	unit
	5	300	1	10	s

COM_FAIL_ACT_T (FLOAT)

Delay between failsafe condition triggered and failsafe reaction.

Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode for the user to realize. During that time the user cannot take over control via the stick override feature (see COM_RC_OVERRIDE). Afterwards the configured failsafe action is triggered and the user may use stick override. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed).

Reboot	minValue	maxValue	increment	default	unit
	0.0	25.0		5.	s

COM_FLIGHT_UUID (INT32)

Next flight UUID.

This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.

Reboot	minValue	maxValue	increment	default	unit
	0			0

COM_FLTMODE1 (INT32)

Mode slot 1.

If the main switch channel is in this range the selected flight mode will be applied.

Values:

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Position Slow
• 10: Takeoff
• 11: Land
• 12: Follow Me
• 13: Precision Land
• 100: External Mode 1
• 101: External Mode 2
• 102: External Mode 3
• 103: External Mode 4
• 104: External Mode 5
• 105: External Mode 6
• 106: External Mode 7
• 107: External Mode 8

Reboot	minValue	maxValue	increment	default	unit
				-1

COM_FLTMODE2 (INT32)

Mode slot 2.

If the main switch channel is in this range the selected flight mode will be applied.

Values:

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Position Slow
• 10: Takeoff
• 11: Land
• 12: Follow Me
• 13: Precision Land
• 100: External Mode 1
• 101: External Mode 2
• 102: External Mode 3
• 103: External Mode 4
• 104: External Mode 5
• 105: External Mode 6
• 106: External Mode 7
• 107: External Mode 8

Reboot	minValue	maxValue	increment	default	unit
				-1

COM_FLTMODE3 (INT32)

Mode slot 3.

If the main switch channel is in this range the selected flight mode will be applied.

Values:

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Position Slow
• 10: Takeoff
• 11: Land
• 12: Follow Me
• 13: Precision Land
• 100: External Mode 1
• 101: External Mode 2
• 102: External Mode 3
• 103: External Mode 4
• 104: External Mode 5
• 105: External Mode 6
• 106: External Mode 7
• 107: External Mode 8

Reboot	minValue	maxValue	increment	default	unit
				-1

COM_FLTMODE4 (INT32)

Mode slot 4.

If the main switch channel is in this range the selected flight mode will be applied.

Values:

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Position Slow
• 10: Takeoff
• 11: Land
• 12: Follow Me
• 13: Precision Land
• 100: External Mode 1
• 101: External Mode 2
• 102: External Mode 3
• 103: External Mode 4
• 104: External Mode 5
• 105: External Mode 6
• 106: External Mode 7
• 107: External Mode 8

Reboot	minValue	maxValue	increment	default	unit
				-1

COM_FLTMODE5 (INT32)

Mode slot 5.

If the main switch channel is in this range the selected flight mode will be applied.

Values:

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Position Slow
• 10: Takeoff
• 11: Land
• 12: Follow Me
• 13: Precision Land
• 100: External Mode 1
• 101: External Mode 2
• 102: External Mode 3
• 103: External Mode 4
• 104: External Mode 5
• 105: External Mode 6
• 106: External Mode 7
• 107: External Mode 8

Reboot	minValue	maxValue	increment	default	unit
				-1

COM_FLTMODE6 (INT32)

Mode slot 6.

If the main switch channel is in this range the selected flight mode will be applied.

Values:

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Position Slow
• 10: Takeoff
• 11: Land
• 12: Follow Me
• 13: Precision Land
• 100: External Mode 1
• 101: External Mode 2
• 102: External Mode 3
• 103: External Mode 4
• 104: External Mode 5
• 105: External Mode 6
• 106: External Mode 7
• 107: External Mode 8

Reboot	minValue	maxValue	increment	default	unit
				-1

COM_FLTT_LOW_ACT (INT32)

Remaining flight time low failsafe.

Action the system takes when the remaining flight time is below the estimated time it takes to reach the RTL destination.

Values:

• 0: None
• 1: Warning
• 3: Return

Reboot	minValue	maxValue	increment	default	unit
			1	3

COM_FLT_PROFILE (INT32)

User Flight Profile.

Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).

Values:

• 0: Default
• 100: Pro User
• 200: Flight Tester
• 300: Developer

Reboot	minValue	maxValue	increment	default	unit
				0

COM_FLT_TIME_MAX (INT32)

Maximum allowed flight time.

The vehicle aborts the current operation and returns to launch when the time since takeoff is above this value. It is not possible to resume the mission or switch to any auto mode other than RTL or Land. Taking over in any manual mode is still possible. Starting from 90% of the maximum flight time, a warning message will be sent every 1 minute with the remaining time until automatic RTL. Set to -1 to disable.

Reboot	minValue	maxValue	increment	default	unit
	-1			-1	s

COM_FORCE_SAFETY (INT32)

Enable force safety.

Force safety when the vehicle disarms

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

COM_HLDL_LOSS_T (INT32)

High Latency Datalink loss time threshold.

After this amount of seconds without datalink the data link lost mode triggers

Reboot	minValue	maxValue	increment	default	unit
	60	3600		120	s

COM_HLDL_REG_T (INT32)

High Latency Datalink regain time threshold.

After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' flag is set back to false

Reboot	minValue	maxValue	increment	default	unit
	0	60		0	s

COM_HOME_EN (INT32)

Home position enabled.

Set home position automatically if possible.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

COM_HOME_IN_AIR (INT32)

Allows setting the home position after takeoff.

If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

COM_IMB_PROP_ACT (INT32)

Imbalanced propeller failsafe mode.

Action the system takes when an imbalanced propeller is detected by the failure detector. See also FD_IMB_PROP_THR to set the failure threshold.

Values:

• -1: Disabled
• 0: Warning
• 1: Return
• 2: Land

Reboot	minValue	maxValue	increment	default	unit
			1	0

COM_KILL_DISARM (FLOAT)

Timeout value for disarming when kill switch is engaged.

Reboot	minValue	maxValue	increment	default	unit
	0.0	30.0	0.1	5.0	s

COM_LKDOWN_TKO (FLOAT)

Timeout for detecting a failure after takeoff.

A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	5.0		3.0	s

COM_LOW_BAT_ACT (INT32)

Battery failsafe mode.

Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.

Values:

• 0: Warning
• 2: Land mode
• 3: Return at critical level, land at emergency level

Reboot	minValue	maxValue	increment	default	unit
				0

COM_MODE0_HASH (INT32)

External mode identifier 0.

This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.

Reboot	minValue	maxValue	increment	default	unit
				0

COM_MODE1_HASH (INT32)

External mode identifier 1.

This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.

Reboot	minValue	maxValue	increment	default	unit
				0

COM_MODE2_HASH (INT32)

External mode identifier 2.

This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.

Reboot	minValue	maxValue	increment	default	unit
				0

COM_MODE3_HASH (INT32)

External mode identifier 3.

This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.

Reboot	minValue	maxValue	increment	default	unit
				0

COM_MODE4_HASH (INT32)

External mode identifier 4.

This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.

Reboot	minValue	maxValue	increment	default	unit
				0

COM_MODE5_HASH (INT32)

External mode identifier 5.

This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.

Reboot	minValue	maxValue	increment	default	unit
				0

COM_MODE6_HASH (INT32)

External mode identifier 6.

This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.

Reboot	minValue	maxValue	increment	default	unit
				0

COM_MODE7_HASH (INT32)

External mode identifier 7.

This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.

Reboot	minValue	maxValue	increment	default	unit
				0

COM_MOT_TEST_EN (INT32)

Enable Actuator Testing.

If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that allows spinning the motors and moving the servos for testing purposes.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

COM_OBC_LOSS_T (FLOAT)

Time-out to wait when onboard computer connection is lost before warning about loss connection.

Reboot	minValue	maxValue	increment	default	unit
	0	60	0.01	5.0	s

COM_OBL_RC_ACT (INT32)

Set offboard loss failsafe mode.

The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

Values:

• 0: Position mode
• 1: Altitude mode
• 2: Stabilized
• 3: Return mode
• 4: Land mode
• 5: Hold mode
• 6: Terminate
• 7: Disarm

Reboot	minValue	maxValue	increment	default	unit
				0

COM_OBS_AVOID (INT32)

Flag to enable obstacle avoidance.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

COM_OF_LOSS_T (FLOAT)

Time-out to wait when offboard connection is lost before triggering offboard lost action.

See COM_OBL_RC_ACT to configure action.

Reboot	minValue	maxValue	increment	default	unit
	0	60	0.01	1.0	s

COM_PARACHUTE (INT32)

Expect and require a healthy MAVLink parachute system.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

COM_POSCTL_NAVL (INT32)

Position mode navigation loss response.

This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.

Values:

• 0: Altitude mode
• 1: Land mode (descend)

Reboot	minValue	maxValue	increment	default	unit
				0

COM_POS_FS_DELAY (INT32)

Loss of position failsafe activation delay.

This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.

Reboot	minValue	maxValue	increment	default	unit
	1	100		1	s

COM_POS_FS_EPH (FLOAT)

Horizontal position error threshold.

This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable.

Reboot	minValue	maxValue	increment	default	unit
	-1	400		5.	m

COM_POS_LOW_EPH (FLOAT)

EPH threshold for RTL.

Specify the threshold for triggering a warning for low local position accuracy. Additionally triggers a RTL if currently in Mission or Loiter mode. Local position has to be still declared valid, which is most of all depending on COM_POS_FS_EPH. Use this feature on systems with dead-reckoning capabilites (e.g. fixed-wing vehicles with airspeed sensor) to improve the user notification and failure mitigation when flying in GNSS-denied areas. Set to -1 to disable.

Reboot	minValue	maxValue	increment	default	unit
	-1	1000		-1.0	m

COM_POWER_COUNT (INT32)

Required number of redundant power modules.

This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.

Reboot	minValue	maxValue	increment	default	unit
	0	4		1

COM_PREARM_MODE (INT32)

Condition to enter prearmed mode.

Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.

Values:

• 0: Disabled
• 1: Safety button
• 2: Always

Reboot	minValue	maxValue	increment	default	unit
				0

COM_QC_ACT (INT32)

Set command after a quadchute.

Values:

• -1: Warning only
• 0: Return mode
• 1: Land mode
• 2: Hold mode

Reboot	minValue	maxValue	increment	default	unit
				0

COM_RAM_MAX (FLOAT)

Maximum allowed RAM usage to pass checks.

The check fails if the RAM usage is above this threshold. A negative value disables the check.

Reboot	minValue	maxValue	increment	default	unit
	-1	100	1	95.0	%

COM_RCL_EXCEPT (INT32)

RC loss exceptions.

Specify modes in which RC loss is ignored and the failsafe action not triggered.

Bitmask:

• 0: Mission
• 1: Hold
• 2: Offboard

Reboot	minValue	maxValue	increment	default	unit
	0	31		0

COM_RC_ARM_HYST (INT32)

RC input arm/disarm command duration.

The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.

Reboot	minValue	maxValue	increment	default	unit
	100	1500		1000	ms

COM_RC_IN_MODE (INT32)

RC control input mode.

A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input.

Values:

• 0: RC Transmitter only
• 1: Joystick only
• 2: RC and Joystick with fallback
• 3: RC or Joystick keep first
• 4: Stick input disabled

Reboot	minValue	maxValue	increment	default	unit
	0	4		3

COM_RC_LOSS_T (FLOAT)

Manual control loss timeout.

The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost. This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.

Reboot	minValue	maxValue	increment	default	unit
	0	35	0.1	0.5	s

COM_RC_OVERRIDE (INT32)

Enable RC stick override of auto and/or offboard modes.

When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV immediately gives control back to the pilot by switching to Position mode and if position is unavailable Altitude mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.

Bitmask:

• 0: Enable override during auto modes (except for in critical battery reaction)
• 1: Enable override during offboard mode

Reboot	minValue	maxValue	increment	default	unit
	0	3		1

COM_RC_STICK_OV (FLOAT)

RC stick override threshold.

If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold the autopilot the pilot takes over control.

Reboot	minValue	maxValue	increment	default	unit
	5	80	0.05	30.0	%

COM_SPOOLUP_TIME (FLOAT)

Enforced delay between arming and further navigation.

The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds. Goal: - Motors and propellers spool up to idle speed before getting commanded to spin faster - Timeout for ESCs and smart batteries to successfulyy do failure checks e.g. for stuck rotors before the vehicle is off the ground

Reboot	minValue	maxValue	increment	default	unit
	0	30	0.1	1.0	s

COM_TAKEOFF_ACT (INT32)

Action after TAKEOFF has been accepted.

The mode transition after TAKEOFF has completed successfully.

Values:

• 0: Hold
• 1: Mission (if valid)

Reboot	minValue	maxValue	increment	default	unit
				0

COM_THROW_EN (INT32)

Enable throw-start.

Allows to start the vehicle by throwing it into the air.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

COM_THROW_SPEED (FLOAT)

Minimum speed for the throw start.

When the throw launch is enabled, the drone will only arm after this speed is exceeded before detecting the freefall. This is a safety feature to ensure the drone does not turn on after accidental drop or a rapid movement before the throw. Set to 0 to disable.

Reboot	minValue	maxValue	increment	default	unit
	0		0.1	5	m/s

COM_VEL_FS_EVH (FLOAT)

Horizontal velocity error threshold.

This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).

Reboot	minValue	maxValue	increment	default	unit
	0			1.	m/s

COM_WIND_MAX (FLOAT)

High wind speed failsafe threshold.

Wind speed threshold above which an automatic failsafe action is triggered. Failsafe action can be specified with COM_WIND_MAX_ACT.

Reboot	minValue	maxValue	increment	default	unit
	-1		0.1	-1.	m/s

COM_WIND_MAX_ACT (INT32)

High wind failsafe mode.

Action the system takes when a wind speed above the specified threshold is detected. See COM_WIND_MAX to set the failsafe threshold. If enabled, it is not possible to resume the mission or switch to any auto mode other than RTL or Land if this threshold is exceeded. Taking over in any manual mode is still possible.

Values:

• 0: None
• 1: Warning
• 2: Hold
• 3: Return
• 4: Terminate
• 5: Land

Reboot	minValue	maxValue	increment	default	unit
			1	0

COM_WIND_WARN (FLOAT)

Wind speed warning threshold.

A warning is triggered if the currently estimated wind speed is above this value. Warning is sent periodically (every 1 minute). Set to -1 to disable.

Reboot	minValue	maxValue	increment	default	unit
	-1		0.1	-1.	m/s

NAV_DLL_ACT (INT32)

Set GCS connection loss failsafe mode.

The GCS connection loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.

Values:

• 0: Disabled
• 1: Hold mode
• 2: Return mode
• 3: Land mode
• 5: Terminate
• 6: Disarm

Reboot	minValue	maxValue	increment	default	unit
	0	6		0

NAV_RCL_ACT (INT32)

Set RC loss failsafe mode.

The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.

Values:

• 1: Hold mode
• 2: Return mode
• 3: Land mode
• 5: Terminate
• 6: Disarm

Reboot	minValue	maxValue	increment	default	unit
	1	6		2

Cyphal

CYPHAL_BAUD (INT32)

UAVCAN/CAN v1 bus bitrate.

Reboot	minValue	maxValue	increment	default	unit
✓	20000	1000000		1000000	bit/s

CYPHAL_ENABLE (INT32)

Cyphal.

0 - Cyphal disabled. 1 - Enables Cyphal

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

CYPHAL_ID (INT32)

Cyphal Node ID.

Read the specs at http://uavcan.org to learn more about Node ID.

Reboot	minValue	maxValue	increment	default	unit
✓	-1	125		1

UCAN1_ACTR_PUB (INT32)

actuator_outputs uORB over Cyphal publication port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_BMS_BP_SUB (INT32)

UDRAL battery parameters subscription port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_BMS_BS_SUB (INT32)

UDRAL battery status subscription port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_BMS_ES_SUB (INT32)

UDRAL battery energy source subscription port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_ESC0_SUB (INT32)

ESC 0 subscription port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_ESC_PUB (INT32)

Cyphal ESC publication port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_FB0_SUB (INT32)

Cyphal ESC 0 zubax feedback port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_FB1_SUB (INT32)

Cyphal ESC 1 zubax feedback port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_FB2_SUB (INT32)

Cyphal ESC 2 zubax feedback port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_FB3_SUB (INT32)

Cyphal ESC 3 zubax feedback port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_FB4_SUB (INT32)

Cyphal ESC 4 zubax feedback port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_FB5_SUB (INT32)

Cyphal ESC 5 zubax feedback port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_FB6_SUB (INT32)

Cyphal ESC 6 zubax feedback port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_FB7_SUB (INT32)

Cyphal ESC 7 zubax feedback port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_GPS0_SUB (INT32)

GPS 0 subscription port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_GPS1_SUB (INT32)

GPS 1 subscription port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_GPS_PUB (INT32)

Cyphal GPS publication port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_LG_BMS_SUB (INT32)

Cyphal legacy battery port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_READ_PUB (INT32)

Cyphal ESC readiness port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_SERVO_PUB (INT32)

Cyphal Servo publication port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_UORB_GPS (INT32)

sensor_gps uORB over Cyphal subscription port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

UCAN1_UORB_GPS_P (INT32)

sensor_gps uORB over Cyphal publication port ID.

Reboot	minValue	maxValue	increment	default	unit
	-1	6143		-1

DShot

DSHOT_3D_DEAD_H (INT32)

DSHOT 3D deadband high.

When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.

Reboot	minValue	maxValue	increment	default	unit
	1000	1999		1000

DSHOT_3D_DEAD_L (INT32)

DSHOT 3D deadband low.

When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.

Reboot	minValue	maxValue	increment	default	unit
	0	1000		1000

DSHOT_3D_ENABLE (INT32)

Allows for 3d mode when using DShot and suitable mixer.

WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0. This splits the throttle ranges in two. Direction 1) 48 is the slowest, 1047 is the fastest. Direction 2) 1049 is the slowest, 2047 is the fastest. When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

DSHOT_BIDIR_EN (INT32)

Enable bidirectional DShot.

This parameter enables bidirectional DShot which provides RPM feedback. Note that this requires ESCs that support bidirectional DSHot, e.g. BlHeli32. This is not the same as DShot telemetry which requires an additional serial connection.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

DSHOT_MIN (FLOAT)

Minimum DShot Motor Output.

Minimum Output Value for DShot in percent. The value depends on the ESC. Make sure to set this high enough so that the motors are always spinning while armed.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.01	0.055	%

DSHOT_TEL_CFG (INT32)

Serial Configuration for DShot Driver.

Configure on which serial port to run DShot Driver.

Values:

• 0: Disabled
• 6: UART 6
• 101: TELEM 1
• 102: TELEM 2
• 103: TELEM 3
• 104: TELEM/SERIAL 4
• 201: GPS 1
• 202: GPS 2
• 203: GPS 3
• 300: Radio Controller
• 301: Wifi Port
• 401: EXT2

Reboot	minValue	maxValue	increment	default	unit
✓				0

MOT_POLE_COUNT (INT32)

Number of magnetic poles of the motors.

Specify the number of magnetic poles of the motors. It is required to compute the RPM value from the eRPM returned with the ESC telemetry. Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets). Typical motors for 5 inch props have 14 poles.

Reboot	minValue	maxValue	increment	default	unit
				14

EKF2

EKF2_ABIAS_INIT (FLOAT)

1-sigma IMU accelerometer switch-on bias.

Reboot	minValue	maxValue	increment	default	unit
✓	0.0	0.5		0.2	m/s^2

EKF2_ABL_ACCLIM (FLOAT)

Maximum IMU accel magnitude that allows IMU bias learning.

If the magnitude of the IMU accelerometer vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the accel bias estimates.

Reboot	minValue	maxValue	increment	default	unit
	20.0	200.0		25.0	m/s^2

EKF2_ABL_GYRLIM (FLOAT)

Maximum IMU gyro angular rate magnitude that allows IMU bias learning.

If the magnitude of the IMU angular rate vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the accel bias estimates.

Reboot	minValue	maxValue	increment	default	unit
	2.0	20.0		3.0	rad/s

EKF2_ABL_LIM (FLOAT)

Accelerometer bias learning limit.

The ekf accel bias states will be limited to within a range equivalent to +- of this value.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.8		0.4	m/s^2

EKF2_ABL_TAU (FLOAT)

Accel bias learning inhibit time constant.

The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.

Reboot	minValue	maxValue	increment	default	unit
	0.1	1.0		0.5	s

EKF2_ACC_B_NOISE (FLOAT)

Process noise for IMU accelerometer bias prediction.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.01		0.003	m/s^3

EKF2_ACC_NOISE (FLOAT)

Accelerometer noise for covariance prediction.

Reboot	minValue	maxValue	increment	default	unit
	0.01	1.0		0.35	m/s^2

EKF2_AGP_CTRL (INT32)

Aux global position (AGP) sensor aiding.

Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion

Bitmask:

• 0: Horizontal position
• 1: Vertical position

Reboot	minValue	maxValue	increment	default	unit
	0	3		0

EKF2_AGP_DELAY (FLOAT)

Aux global position estimator delay relative to IMU measurements.

Reboot	minValue	maxValue	increment	default	unit
✓	0	300		0	ms

EKF2_AGP_GATE (FLOAT)

Gate size for aux global position fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			3.0	SD

EKF2_AGP_NOISE (FLOAT)

Measurement noise for aux global position measurements.

Used to lower bound or replace the uncertainty included in the message

Reboot	minValue	maxValue	increment	default	unit
	0.01			0.9	m

EKF2_ANGERR_INIT (FLOAT)

1-sigma tilt angle uncertainty after gravity vector alignment.

Reboot	minValue	maxValue	increment	default	unit
✓	0.0	0.5		0.1	rad

EKF2_ARSP_THR (FLOAT)

Airspeed fusion threshold.

Airspeed data is fused for wind estimation if above this threshold. Set to 0 to disable airspeed fusion. For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).

Reboot	minValue	maxValue	increment	default	unit
	0.0			0.0	m/s

EKF2_ASPD_MAX (FLOAT)

Maximum airspeed used for baro static pressure compensation.

Reboot	minValue	maxValue	increment	default	unit
	5.0	50.0		20.0	m/s

EKF2_ASP_DELAY (FLOAT)

Airspeed measurement delay relative to IMU measurements.

Reboot	minValue	maxValue	increment	default	unit
✓	0	300		100	ms

EKF2_AVEL_DELAY (FLOAT)

Auxiliary Velocity Estimate delay relative to IMU measurements.

Reboot	minValue	maxValue	increment	default	unit
✓	0	300		5	ms

EKF2_BARO_CTRL (INT32)

Barometric sensor height aiding.

If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other height sources (if activated).

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

EKF2_BARO_DELAY (FLOAT)

Barometer measurement delay relative to IMU measurements.

Reboot	minValue	maxValue	increment	default	unit
✓	0	300		0	ms

EKF2_BARO_GATE (FLOAT)

Gate size for barometric and GPS height fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			5.0	SD

EKF2_BARO_NOISE (FLOAT)

Measurement noise for barometric altitude.

Reboot	minValue	maxValue	increment	default	unit
	0.01	15.0		3.5	m

EKF2_BCOEF_X (FLOAT)

X-axis ballistic coefficient used for multi-rotor wind estimation.

This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.

Reboot	minValue	maxValue	increment	default	unit
	0.0	200.0		100.0	kg/m^2

EKF2_BCOEF_Y (FLOAT)

Y-axis ballistic coefficient used for multi-rotor wind estimation.

This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.

Reboot	minValue	maxValue	increment	default	unit
	0.0	200.0		100.0	kg/m^2

EKF2_BETA_GATE (FLOAT)

Gate size for synthetic sideslip fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			5.0	SD

EKF2_BETA_NOISE (FLOAT)

Noise for synthetic sideslip fusion.

Reboot	minValue	maxValue	increment	default	unit
	0.1	1.0		0.3	m/s

EKF2_DECL_TYPE (INT32)

Integer bitmask controlling handling of magnetic declination.

Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.

Bitmask:

• 0: use geo_lookup declination
• 1: save EKF2_MAG_DECL on disarm

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		3

EKF2_DELAY_MAX (FLOAT)

Maximum delay of all the aiding sensors.

Defines the delay between the current time and the delayed-time horizon. This value should be at least as large as the largest EKF2_XXX_DELAY parameter.

Reboot	minValue	maxValue	increment	default	unit
✓	0	1000		200	ms

EKF2_DRAG_CTRL (INT32)

Multirotor wind estimation selection.

Activate wind speed estimation using specific-force measurements and a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles that have their thrust aligned with the Z axis and no thrust in the XY plane.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

EKF2_DRAG_NOISE (FLOAT)

Specific drag force observation noise variance.

Used by the multi-rotor specific drag force model. Increasing this makes the multi-rotor wind estimates adjust more slowly.

Reboot	minValue	maxValue	increment	default	unit
	0.5	10.0		2.5	(m/s^2)^2

EKF2_EAS_NOISE (FLOAT)

Measurement noise for airspeed fusion.

Reboot	minValue	maxValue	increment	default	unit
	0.5	5.0		1.4	m/s

EKF2_EN (INT32)

EKF2 enable.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

EKF2_EVA_NOISE (FLOAT)

Measurement noise for vision angle measurements.

Used to lower bound or replace the uncertainty included in the message

Reboot	minValue	maxValue	increment	default	unit
	0.05			0.1	rad

EKF2_EVP_GATE (FLOAT)

Gate size for vision position fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			5.0	SD

EKF2_EVP_NOISE (FLOAT)

Measurement noise for vision position measurements.

Used to lower bound or replace the uncertainty included in the message

Reboot	minValue	maxValue	increment	default	unit
	0.01			0.1	m

EKF2_EVV_GATE (FLOAT)

Gate size for vision velocity estimate fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			3.0	SD

EKF2_EVV_NOISE (FLOAT)

Measurement noise for vision velocity measurements.

Used to lower bound or replace the uncertainty included in the message

Reboot	minValue	maxValue	increment	default	unit
	0.01			0.1	m/s

EKF2_EV_CTRL (INT32)

External vision (EV) sensor aiding.

Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw

Bitmask:

• 0: Horizontal position
• 1: Vertical position
• 2: 3D velocity
• 3: Yaw

Reboot	minValue	maxValue	increment	default	unit
	0	15		0

EKF2_EV_DELAY (FLOAT)

Vision Position Estimator delay relative to IMU measurements.

Reboot	minValue	maxValue	increment	default	unit
✓	0	300		0	ms

EKF2_EV_NOISE_MD (INT32)

External vision (EV) noise mode.

If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. If set to 1 the observation noise is set from the parameters directly,

Values:

• 0: EV reported variance (parameter lower bound)
• 1: EV noise parameters

Reboot	minValue	maxValue	increment	default	unit
				0

EKF2_EV_POS_X (FLOAT)

X position of VI sensor focal point in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_EV_POS_Y (FLOAT)

Y position of VI sensor focal point in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_EV_POS_Z (FLOAT)

Z position of VI sensor focal point in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_EV_QMIN (INT32)

External vision (EV) minimum quality (optional).

External vision will only be started and fused if the quality metric is above this threshold. The quality metric is a completely optional field provided by some VIO systems.

Reboot	minValue	maxValue	increment	default	unit
	0	100		0

EKF2_FUSE_BETA (INT32)

Enable synthetic sideslip fusion.

For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported for tailsitters.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

EKF2_GBIAS_INIT (FLOAT)

1-sigma IMU gyro switch-on bias.

Reboot	minValue	maxValue	increment	default	unit
✓	0.0	0.2		0.1	rad/s

EKF2_GND_EFF_DZ (FLOAT)

Baro deadzone range for height fusion.

Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ > 0.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10.0		4.0	m

EKF2_GND_MAX_HGT (FLOAT)

Height above ground level for ground effect zone.

Sets the maximum distance to the ground level where negative baro innovations are expected.

Reboot	minValue	maxValue	increment	default	unit
	0.0	5.0		0.5	m

EKF2_GPS_CHECK (INT32)

Integer bitmask controlling GPS checks.

Each threshold value is defined by the parameter indicated next to the check. Drift and offset checks only run when the vehicle is on ground and stationary.

Bitmask:

• 0: Sat count (EKF2_REQ_NSATS)
• 1: PDOP (EKF2_REQ_PDOP)
• 2: EPH (EKF2_REQ_EPH)
• 3: EPV (EKF2_REQ_EPV)
• 4: Speed accuracy (EKF2_REQ_SACC)
• 5: Horizontal position drift (EKF2_REQ_HDRIFT)
• 6: Vertical position drift (EKF2_REQ_VDRIFT)
• 7: Horizontal speed offset (EKF2_REQ_HDRIFT)
• 8: Vertical speed offset (EKF2_REQ_VDRIFT)
• 9: Spoofing

Reboot	minValue	maxValue	increment	default	unit
	0	1023		1023

EKF2_GPS_CTRL (INT32)

GNSS sensor aiding.

Set bits in the following positions to enable: 0 : Longitude and latitude fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading fusion

Bitmask:

• 0: Lon/lat
• 1: Altitude
• 2: 3D velocity
• 3: Dual antenna heading

Reboot	minValue	maxValue	increment	default	unit
	0	15		7

EKF2_GPS_DELAY (FLOAT)

GPS measurement delay relative to IMU measurements.

Reboot	minValue	maxValue	increment	default	unit
✓	0	300		110	ms

EKF2_GPS_POS_X (FLOAT)

X position of GPS antenna in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_GPS_POS_Y (FLOAT)

Y position of GPS antenna in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_GPS_POS_Z (FLOAT)

Z position of GPS antenna in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_GPS_P_GATE (FLOAT)

Gate size for GNSS position fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			5.0	SD

EKF2_GPS_P_NOISE (FLOAT)

Measurement noise for GNSS position.

Reboot	minValue	maxValue	increment	default	unit
	0.01	10.0		0.5	m

EKF2_GPS_V_GATE (FLOAT)

Gate size for GNSS velocity fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			5.0	SD

EKF2_GPS_V_NOISE (FLOAT)

Measurement noise for GNSS velocity.

Reboot	minValue	maxValue	increment	default	unit
	0.01	5.0		0.3	m/s

EKF2_GRAV_NOISE (FLOAT)

Accelerometer measurement noise for gravity based observations.

Reboot	minValue	maxValue	increment	default	unit
	0.1	10.0		1.0	g0

EKF2_GSF_TAS (FLOAT)

Default value of true airspeed used in EKF-GSF AHRS calculation.

If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		15.0	m/s

EKF2_GYR_B_LIM (FLOAT)

Gyro bias learning limit.

The ekf gyro bias states will be limited to within a range equivalent to +- of this value.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.4		0.15	rad/s

EKF2_GYR_B_NOISE (FLOAT)

Process noise for IMU rate gyro bias prediction.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.01		0.001	rad/s^2

EKF2_GYR_NOISE (FLOAT)

Rate gyro noise for covariance prediction.

Reboot	minValue	maxValue	increment	default	unit
	0.0001	0.1		0.015	rad/s

EKF2_HDG_GATE (FLOAT)

Gate size for heading fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			2.6	SD

EKF2_HEAD_NOISE (FLOAT)

Measurement noise for magnetic heading fusion.

Reboot	minValue	maxValue	increment	default	unit
	0.01	1.0		0.3	rad

EKF2_HGT_REF (INT32)

Determines the reference source of height data used by the EKF.

When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.

Values:

• 0: Barometric pressure
• 1: GPS
• 2: Range sensor
• 3: Vision

Reboot	minValue	maxValue	increment	default	unit
✓				1

EKF2_IMU_CTRL (INT32)

IMU control.

Bitmask:

• 0: Gyro Bias
• 1: Accel Bias
• 2: Gravity vector fusion

Reboot	minValue	maxValue	increment	default	unit
	0	7		7

EKF2_IMU_POS_X (FLOAT)

X position of IMU in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_IMU_POS_Y (FLOAT)

Y position of IMU in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_IMU_POS_Z (FLOAT)

Z position of IMU in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_LOG_VERBOSE (INT32)

Verbose logging.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

EKF2_MAG_ACCLIM (FLOAT)

Horizontal acceleration threshold used for heading observability check.

The heading is assumed to be observable when the body acceleration is greater than this parameter when a global position/velocity aiding source is active.

Reboot	minValue	maxValue	increment	default	unit
	0.0	5.0		0.5	m/s^2

EKF2_MAG_B_NOISE (FLOAT)

Process noise for body magnetic field prediction.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.1		0.0001	gauss/s

EKF2_MAG_CHECK (INT32)

Magnetic field strength test selection.

Bitmask to set which check is used to decide whether the magnetometer data is valid. If GNSS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance. Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find the theoretical strength and inclination using the WMM

Bitmask:

• 0: Strength (EKF2_MAG_CHK_STR)
• 1: Inclination (EKF2_MAG_CHK_INC)
• 2: Wait for WMM

Reboot	minValue	maxValue	increment	default	unit
	0	7		1

EKF2_MAG_CHK_INC (FLOAT)

Magnetic field inclination check tolerance.

Maximum allowed deviation from the expected magnetic field inclination to pass the check.

Reboot	minValue	maxValue	increment	default	unit
	0.0	90.0		20.0	deg

EKF2_MAG_CHK_STR (FLOAT)

Magnetic field strength check tolerance.

Maximum allowed deviation from the expected magnetic field strength to pass the check.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0		0.2	gauss

EKF2_MAG_DECL (FLOAT)

Magnetic declination.

Reboot	minValue	maxValue	increment	default	unit
				0	deg

EKF2_MAG_DELAY (FLOAT)

Magnetometer measurement delay relative to IMU measurements.

Reboot	minValue	maxValue	increment	default	unit
✓	0	300		0	ms

EKF2_MAG_E_NOISE (FLOAT)

Process noise for earth magnetic field prediction.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.1		0.001	gauss/s

EKF2_MAG_GATE (FLOAT)

Gate size for magnetometer XYZ component fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			3.0	SD

EKF2_MAG_NOISE (FLOAT)

Measurement noise for magnetometer 3-axis fusion.

Reboot	minValue	maxValue	increment	default	unit
	0.001	1.0		0.05	gauss

EKF2_MAG_TYPE (INT32)

Type of magnetometer fusion.

Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight. If set to 'Magnetic heading' magnetic heading fusion is used at all times. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GNSS velocity measurements to align the yaw angle. If set to 'Init' the magnetometer is only used to initalize the heading.

Values:

• 0: Automatic
• 1: Magnetic heading
• 5: None
• 6: Init

Reboot	minValue	maxValue	increment	default	unit
✓				0

EKF2_MCOEF (FLOAT)

Propeller momentum drag coefficient for multi-rotor wind estimation.

This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. Set this parameter to zero to turn off the momentum drag model for both axis.

Reboot	minValue	maxValue	increment	default	unit
	0	1.0		0.15	1/s

EKF2_MIN_RNG (FLOAT)

Expected range finder reading when on ground.

If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.

Reboot	minValue	maxValue	increment	default	unit
	0.01			0.1	m

EKF2_MULTI_IMU (INT32)

Multi-EKF IMUs.

Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.

Reboot	minValue	maxValue	increment	default	unit
✓	0	4		0

EKF2_MULTI_MAG (INT32)

Multi-EKF Magnetometers.

Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.

Reboot	minValue	maxValue	increment	default	unit
✓	0	4		0

EKF2_NOAID_NOISE (FLOAT)

Measurement noise for non-aiding position hold.

Reboot	minValue	maxValue	increment	default	unit
	0.5	50.0		10.0	m

EKF2_NOAID_TOUT (INT32)

Maximum inertial dead-reckoning time.

Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid

Reboot	minValue	maxValue	increment	default	unit
	500000	10000000		5000000	us

EKF2_OF_CTRL (INT32)

Optical flow aiding.

Enable optical flow fusion.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

EKF2_OF_DELAY (FLOAT)

Optical flow measurement delay relative to IMU measurements.

Assumes measurement is timestamped at trailing edge of integration period

Reboot	minValue	maxValue	increment	default	unit
✓	0	300		20	ms

EKF2_OF_GATE (FLOAT)

Gate size for optical flow fusion.

Sets the number of standard deviations used by the innovation consistency test.

Reboot	minValue	maxValue	increment	default	unit
	1.0			3.0	SD

EKF2_OF_GYR_SRC (INT32)

Optical flow angular rate compensation source.

Auto: use gyro from optical flow message if available, internal gyro otherwise. Internal: always use internal gyro

Values:

• 0: Auto
• 1: Internal

Reboot	minValue	maxValue	increment	default	unit
				0

EKF2_OF_N_MAX (FLOAT)

Optical flow maximum noise.

Measurement noise for the optical flow sensor when it's reported quality metric is at the minimum

Reboot	minValue	maxValue	increment	default	unit
	0.05			0.5	rad/s

EKF2_OF_N_MIN (FLOAT)

Optical flow minimum noise.

Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum

Reboot	minValue	maxValue	increment	default	unit
	0.05			0.15	rad/s

EKF2_OF_POS_X (FLOAT)

X position of optical flow focal point in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_OF_POS_Y (FLOAT)

Y position of optical flow focal point in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_OF_POS_Z (FLOAT)

Z position of optical flow focal point in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_OF_QMIN (INT32)

In air optical flow minimum quality.

Optical Flow data will only be used in air if the sensor reports a quality metric >= EKF2_OF_QMIN

Reboot	minValue	maxValue	increment	default	unit
	0	255		1

EKF2_OF_QMIN_GND (INT32)

On ground optical flow minimum quality.

Optical Flow data will only be used on the ground if the sensor reports a quality metric >= EKF2_OF_QMIN_GND

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

EKF2_PCOEF_XN (FLOAT)

Static pressure position error coefficient for the negative X axis.

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.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5		0.0

EKF2_PCOEF_XP (FLOAT)

Static pressure position error coefficient for the positive X axis.

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 forward flight, then this will be a negative number.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5		0.0

EKF2_PCOEF_YN (FLOAT)

Pressure position error coefficient for the negative Y axis.

This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. If the baro height estimate rises during sideways flight to the left, then this will be a negative number.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5		0.0

EKF2_PCOEF_YP (FLOAT)

Pressure position error coefficient for the positive Y axis.

This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. If the baro height estimate rises during sideways flight to the right, then this will be a negative number.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5		0.0

EKF2_PCOEF_Z (FLOAT)

Static pressure position error coefficient for the Z axis.

This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5		0.0

EKF2_PREDICT_US (INT32)

EKF prediction period.

EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. Actual filter update will be an integer multiple of IMU update.

Reboot	minValue	maxValue	increment	default	unit
	1000	20000		10000	us

EKF2_REQ_EPH (FLOAT)

Required EPH to use GPS.

Reboot	minValue	maxValue	increment	default	unit
	2	100		3.0	m

EKF2_REQ_EPV (FLOAT)

Required EPV to use GPS.

Reboot	minValue	maxValue	increment	default	unit
	2	100		5.0	m

EKF2_REQ_GPS_H (FLOAT)

Required GPS health time on startup.

Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.

Reboot	minValue	maxValue	increment	default	unit
✓	0.1			10.0	s

EKF2_REQ_HDRIFT (FLOAT)

Maximum horizontal drift speed to use GPS.

Reboot	minValue	maxValue	increment	default	unit
	0.1	1.0		0.1	m/s

EKF2_REQ_NSATS (INT32)

Required satellite count to use GPS.

Reboot	minValue	maxValue	increment	default	unit
	4	12		6

EKF2_REQ_PDOP (FLOAT)

Maximum PDOP to use GPS.

Reboot	minValue	maxValue	increment	default	unit
	1.5	5.0		2.5

EKF2_REQ_SACC (FLOAT)

Required speed accuracy to use GPS.

Reboot	minValue	maxValue	increment	default	unit
	0.5	5.0		0.5	m/s

EKF2_REQ_VDRIFT (FLOAT)

Maximum vertical drift speed to use GPS.

Reboot	minValue	maxValue	increment	default	unit
	0.1	1.5		0.2	m/s

EKF2_RNG_A_HMAX (FLOAT)

Maximum height above ground allowed for conditional range aid mode.

If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).

Reboot	minValue	maxValue	increment	default	unit
	1.0	10.0		5.0	m

EKF2_RNG_A_IGATE (FLOAT)

Gate size used for innovation consistency checks for range aid fusion.

A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode

Reboot	minValue	maxValue	increment	default	unit
	0.1	5.0		1.0	SD

EKF2_RNG_A_VMAX (FLOAT)

Maximum horizontal velocity allowed for conditional range aid mode.

If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).

Reboot	minValue	maxValue	increment	default	unit
	0.1	2		1.0	m/s

EKF2_RNG_CTRL (INT32)

Range sensor height aiding.

WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in "conditional" mode. Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It